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arXiv · 2510.07145

Stability Preserving Safe Control of a Bicopter

Jhon Manuel Portella Delgado·Ankit Goel
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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.

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Jhon Manuel Portella Delgado, Ankit Goel. 2025-10-08. Stability Preserving Safe Control of a Bicopter. https://arxiv.org/abs/2510.07145

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