Stability Preserving Safe Control of a Bicopter
Abstract
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking performance. Unlike conventional control barrier function methods, the constrained control problem is transformed into an unconstrained one using state-dependent mappings together with carefully constructed Lyapunov functions. This approach enables explicit synthesis of the control law, instead of requiring a solution of constrained optimization at each step. The transformation also enables the controller to enforce safety without sacrificing stability or performance. Simulation results for a polytopic reference trajectory confined within a designated safe region demonstrate the effectiveness of the proposed method.
Cite
@article{arxiv.2510.07145,
title = {Stability Preserving Safe Control of a Bicopter},
author = {Jhon Manuel Portella Delgado and Ankit Goel},
journal= {arXiv preprint arXiv:2510.07145},
year = {2025}
}