This article mainly considers the problem of trajectory tracking control problem of quad-rotor system with velocity constrain under the consideration of safety. A model-based nonlinear controller is proposed which can guarantee not only the asymptotical stability for control system but also the velocity under a safe range. Firstly, based on backstepping design, a position tracking controller with velocity constraint is proposed to ensure that the desired position can be tracked with velocity constrains. At the second step, considering attitude subsystem, an attitude controller is proposed to improve the attitude dynamic response performance. Finally, the validity and superiority of the design has been verified in simulation results.

中文翻译：

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存在速度约束的四旋翼系统轨迹跟踪控制

本文主要考虑安全性考虑下速度约束的四旋翼系统的轨迹跟踪控制问题。提出了一种基于模型的非线性控制器，既能保证控制系统的渐近稳定性，又能保证速度在安全范围内。首先，基于反步设计，提出了一种带有速度约束的位置跟踪控制器，以确保可以在带有速度约束的情况下跟踪目标位置。第二步，考虑姿态子系统，提出姿态控制器以提高姿态动态响应性能。最后通过仿真结果验证了设计的有效性和优越性。