Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems
In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to achieve stable path-following and obstacle avoidance in UAV syste...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/11049658/ |
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| author | Bryan S. Guevara Jose Varela-Aldas Viviana Moya Manuel Cardona Daniel C. Gandolfo Juan M. Toibero |
| author_facet | Bryan S. Guevara Jose Varela-Aldas Viviana Moya Manuel Cardona Daniel C. Gandolfo Juan M. Toibero |
| author_sort | Bryan S. Guevara |
| collection | DOAJ |
| description | In this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to achieve stable path-following and obstacle avoidance in UAV systems. This framework enables uncrewed aerial vehicles (UAVs) to safely navigate around both static and dynamic obstacles while strictly adhering to desired paths. The quaternion-based formulation ensures precise orientation and attitude control, while a robust optimization solver enforces the constraints imposed by the Control Lyapunov Function (CLF) and Control Barrier Functions (CBF), ensuring reliable real-time performance. The proposed method was experimentally validated using a DJI Matrice 100 quadrotor platform, considering scenarios with prior knowledge of obstacle locations. Results demonstrate the controller’s effectiveness in minimizing orthogonal and tangential tracking errors, ensuring stability and safety in complex environments. |
| format | Article |
| id | doaj-art-fd5ec2fd37534b70a2f3d8369e4f006f |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-fd5ec2fd37534b70a2f3d8369e4f006f2025-08-20T02:38:22ZengIEEEIEEE Access2169-35362025-01-011310974210975110.1109/ACCESS.2025.358250511049658Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV SystemsBryan S. Guevara0https://orcid.org/0000-0002-7830-0498Jose Varela-Aldas1https://orcid.org/0000-0002-4084-1424Viviana Moya2https://orcid.org/0000-0002-6064-6925Manuel Cardona3https://orcid.org/0000-0002-4211-3498Daniel C. Gandolfo4https://orcid.org/0000-0002-4938-2105Juan M. Toibero5https://orcid.org/0000-0001-9347-566XInstituto de Automática, Universidad Nacional de San Juan-CONICET, San Juan, ArgentinaCentro de Investigación MIST, Facultad de Ingenierías, Universidad Tecnológica Indoamérica, Ambato, EcuadorFacultad de Ciencias Tècnicas, Universidad Internacional del Ecuador (UIDE), Quito, EcuadorResearch Department, Universidad Don Bosco, Soyapango, El SalvadorInstituto de Automática, Universidad Nacional de San Juan-CONICET, San Juan, ArgentinaInstituto de Automática, Universidad Nacional de San Juan-CONICET, San Juan, ArgentinaIn this study, we propose a novel method that integrates Nonlinear Model Predictive Contour Control (NMPCC) with an Exponentially Stabilizing Control Lyapunov Function (ES-CLF) and Exponential Higher-Order Control Barrier Functions to achieve stable path-following and obstacle avoidance in UAV systems. This framework enables uncrewed aerial vehicles (UAVs) to safely navigate around both static and dynamic obstacles while strictly adhering to desired paths. The quaternion-based formulation ensures precise orientation and attitude control, while a robust optimization solver enforces the constraints imposed by the Control Lyapunov Function (CLF) and Control Barrier Functions (CBF), ensuring reliable real-time performance. The proposed method was experimentally validated using a DJI Matrice 100 quadrotor platform, considering scenarios with prior knowledge of obstacle locations. Results demonstrate the controller’s effectiveness in minimizing orthogonal and tangential tracking errors, ensuring stability and safety in complex environments.https://ieeexplore.ieee.org/document/11049658/MPCCCLFCBFUAVobstacle avoidancepath-following |
| spellingShingle | Bryan S. Guevara Jose Varela-Aldas Viviana Moya Manuel Cardona Daniel C. Gandolfo Juan M. Toibero Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems IEEE Access MPCC CLF CBF UAV obstacle avoidance path-following |
| title | Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems |
| title_full | Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems |
| title_fullStr | Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems |
| title_full_unstemmed | Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems |
| title_short | Model Predictive Contouring Control With Barrier and Lyapunov Functions for Stable Path-Following in UAV Systems |
| title_sort | model predictive contouring control with barrier and lyapunov functions for stable path following in uav systems |
| topic | MPCC CLF CBF UAV obstacle avoidance path-following |
| url | https://ieeexplore.ieee.org/document/11049658/ |
| work_keys_str_mv | AT bryansguevara modelpredictivecontouringcontrolwithbarrierandlyapunovfunctionsforstablepathfollowinginuavsystems AT josevarelaaldas modelpredictivecontouringcontrolwithbarrierandlyapunovfunctionsforstablepathfollowinginuavsystems AT vivianamoya modelpredictivecontouringcontrolwithbarrierandlyapunovfunctionsforstablepathfollowinginuavsystems AT manuelcardona modelpredictivecontouringcontrolwithbarrierandlyapunovfunctionsforstablepathfollowinginuavsystems AT danielcgandolfo modelpredictivecontouringcontrolwithbarrierandlyapunovfunctionsforstablepathfollowinginuavsystems AT juanmtoibero modelpredictivecontouringcontrolwithbarrierandlyapunovfunctionsforstablepathfollowinginuavsystems |