Multi-UAV Safe Collaborative Transportation Based on Adaptive Control Barrier Function

This article focuses on the problem of adaptive safe stabilization for a class of nonlinear control affine systems with parameter uncertainties. Two novel definitions of adaptive control Lyapunov function (ACLF) and adaptive control barrier function (ACBF) are first introduced, which use multiple identification models combined with a logic switching mechanism for parameter adaptation. The switching mechanism can improve the transient performance of nonlinear systems. Also, a multiunmanned aerial vehicle (multi-UAV) safe collaborative transportation framework based on ACLF and ACBF is provided in the presence of parametric uncertainties, in which a nominal controller is derived by using the proposed ACLF with a quadratic programming (QP) algorithm, and the nominal controller is further modified by the ACBF-QP algorithm for safety filter to achieve adaptive safe stabilization. Finally, simulation results for safe collaborative transportation of dual unmanned aerial vehicles in three-dimensional space are presented to demonstrate the effectiveness of the proposed design approach.