{"ID":2858850,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.07145","arxiv_id":"2510.07145","title":"Stability Preserving Safe Control of a Bicopter","abstract":"This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking performance. Unlike conventional control barrier function methods, the constrained control problem is transformed into an unconstrained one using state-dependent mappings together with carefully constructed Lyapunov functions. This approach enables explicit synthesis of the control law, instead of requiring a solution of constrained optimization at each step. The transformation also enables the controller to enforce safety without sacrificing stability or performance. Simulation results for a polytopic reference trajectory confined within a designated safe region demonstrate the effectiveness of the proposed method.","short_abstract":"This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking performance. Unlike conventional control barrier function methods, the constrained con...","url_abs":"https://arxiv.org/abs/2510.07145","url_pdf":"https://arxiv.org/pdf/2510.07145v1","authors":"[\"Jhon Manuel Portella Delgado\",\"Ankit Goel\"]","published":"2025-10-08T15:46:58Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"math.OC\"]","methods":"[]","has_code":false}