Escape-Aware Control Barrier Functions for Quadrotor Safety under Body-Rate Limits

2026-09-15

AI Summary

论文解决了四旋翼无人机在机体速率限制下的安全问题，通过定义状态和先前输入的增强对来创建逃逸屏障函数，提高了安全性。

Abstract

Control barrier functions for input-constrained systems place the admissible input set inside the definition of the safe set, yet the resulting barrier is almost always a function of the state alone; On a quadrotor this is not cosmetic: because the thrust vector must be reoriented before it can decelerate an approach, and reorientation is limited by the attainable body rate, a state-only barrier certifies states from which no escape is reachable in time; We characterize the certification gap in closed form and show its width is proportional to closing speed and inversely proportional to the body-rate limit; We then define an escape barrier on the augmented pair of state and previously applied input, with escape authority measured over the one-step reachable thrust cap; It admits a closed form and an analytic inverse for the maximum certifiable closing speed, and embeds in a predictive controller at no additional state cost; Across 550 paired closed-loop episodes on a 13-state quadrotor, the proposed controller completes every tested scenario, whereas the stopping-distance barrier enforced over the same horizon fails 15% and 25% of episodes in exactly the two scenarios that enter the predicted gap; Against an online backup-CBF baseline enforcing the same escape condition at the reached state, it holds a 29-74 degree larger directional margin and 3-18 times the clearance, and an independent conservative rollout referee finds no certified state from which escape fails.

Problem

• Control Barrier Functions
• Quadrotor Safety
• Body-Rate Limits
• Escape Authority
• Predictive Controller

Innovation

• Escape-Aware Control Barrier Functions
• body-rate limits
• quadrotor safety
• predictive controller
• state-input pair