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June 5, 2026Defence TechnologyOpen Access

Fragility-free performance guarantees-based near optimal enclosing control for UAVs with obstacle avoidance

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Authors

XSXingling ShaoWWWanning WangJLJun Liu

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Overview

Randomized trial demonstrates a new controller for UAVs, ensuring safety and performance guarantees, suggesting improved navigation capabilities.

Key Points

  • This research aims to develop a controller for UAVs that guarantees safe circumnavigation while avoiding obstacles.
  • Proposed a new enclosing controller utilizing a time-flexible behavior envelope to define performance constraints.
  • Constructed a barrier function to encode safety conditions between UAVs and obstacles.
  • Optimized a cost function to derive a near-optimal controller based on transformed enclosing errors.
  • Simulations show that the proposed controller effectively achieves optimal enclosing with proven performance guarantees.
  • The error variables remained ultimately limited, validating the efficacy of the controller.
  • Comparative analysis indicated superior performance over existing methods.

Cite This Study

Shao et al. (2026) studied this question.

synapsesocial.com/papers/6a22672f763171746d545df1https://doi.org/10.1016/j.dt.2026.05.025
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