Trajectory Tracking for Unmanned Aerial Vehicles in 3D Spaces under Motion Constraints

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider spatial constraints, the proposed strategy considers spatial constraints on each degree of freedom movement of the UAV. Such consideration makes the design appealing for many practical applications, such as pipeline inspection, boundary tracking, etc. The proposed design accounts for the limited information about the inertia matrix, thereby affirming its inherent robustness against unmodeled dynamics and other imperfections. We rigorously show that the UAV will converge to its desired path by maintaining bounded position, orientation, and linear and angular speeds. Finally, we demonstrate the effectiveness of the proposed strategy through various numerical simulations.