Prescribed performance collision-free control for bearing-constrained unmanned aerial vehicle

This paper addresses the challenging problem of enabling bearing-constrained unmanned aerial vehicles to navigate through environments with multiple obstacles while strictly satisfying predefined convergence time and steady-state accuracy requirements. To meet the stringent payload and cost constraints of small-scale UAVs, we propose a lightweight local perception and localization framework that relies solely on angular (bearing) measurements, thereby minimizing sensor hardware requirements. An integrated obstacle-avoidance assistance mechanism is developed to ensure safe traversal in cluttered environments under these limited sensing conditions, without appreciably degrading the prescribed temporal and accuracy performance. Furthermore, a non-singular prescribed-performance control strategy is designed that seamlessly incorporates obstacle avoidance while guaranteeing user-specified convergence time and ultimate tracking precision. Finally, the effectiveness of the proposed approach is validated through multiple simulation examples.