Keep-in operational envelopes are essential to maintain the safety of unmanned aerial vehicles (UAVs). System properties and constraints, including underactuated dynamics and actuator saturation, dramatically affect the system's maneuverability inside the operational envelope. Moreover, sate-of-the-art safety control depends heavily on the specifications of the operational envelope. Thus, this article focuses on creating a scalable technique to transform safety envelopes into input-constrained barriers along each axis of motion. Then, it is shown that the proposed class of operational envelopes simultaneously guarantees safety and asymptotic stability. The closed-form solution for the safety rule is derived as allowable low and high bounds of the control command, which are calculated in real time. Furthermore, it is shown that the proposed safety design seamlessly integrates with an existing motion control algorithm with minimum modification. The super-twisting control is used to handle the nonlinear complexity of the UAV and parametric uncertainties and achieve a desirable robust behavior for trajectory and attitude control. The control calibration and tuning are carried out on a state-of-the-art experimental system. The experimental results verify the effectiveness of the proposed safety control.

中文翻译：

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航空地理围栏控制系统的分析设计与实验验证。

保持可操作范围对于维持无人机的安全至关重要。系统性能和约束，包括欠驱动动力学和致动器饱和，极大地影响了系统在可操作范围内的可操纵性。此外，最新的安全控制在很大程度上取决于操作范围的规格。因此，本文着重于创建一种可扩展的技术，以沿每个运动轴将安全封套转换为受输入约束的屏障。然后，表明所提出的操作包络类别同时保证了安全性和渐近稳定性。安全规则的封闭式解决方案作为控制命令的允许下限和上限导出，并实时计算。此外，结果表明，所提出的安全设计与现有的运动控制算法无缝集成，且修改量最小。超扭曲控制用于处理无人机的非线性复杂性和参数不确定性，并实现所需的轨迹和姿态控制鲁棒性。控制校准和调整是在最新的实验系统上进行的。实验结果验证了所提出的安全控制的有效性。控制校准和调整是在最新的实验系统上进行的。实验结果验证了所提出的安全控制的有效性。控制校准和调整是在最新的实验系统上进行的。实验结果验证了所提出的安全控制的有效性。