Attitude-position obstacle avoidance and predefined-time safe control for fully actuated modeled eVTOL with time-varying centroid

This paper proposes a tracking control strategy based on the fully-actuated system (FAS) approach to address the obstacle avoidance problem in logistics transportation scenarios. For the electric vertical take-off and landing (eVTOL) with a time-varying centroid modeled by quaternions, the predefined-time observer and nominal controller are designed to ensure the convergence of both the observation errors and tracking errors of the attitude-position system. Using the implicit Lyapunov function and homogeneity theory, the gain matrices of the observer and nominal controller are derived. To achieve attitude-position obstacle avoidance, the concept of an attitude mandatory zone is introduced for the first time, along with the design of an obstacle avoidance safe set. Under the framework of the control barrier function (CBF), the safe control problem is transformed into a quadratic program (QP). Finally, numerical simulations verify the effectiveness of the proposed algorithm.