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This article mainly considers the problem of trajectory tracking control problem of quad-rotor system with velocity constrain under the consideration of safety. A model-based nonlinear controller is proposed which can guarantee not only the asymptotical stability for control system but also the velocity under a safe range. Firstly, based on backstepping design, a position tracking controller with velocity constraint is proposed to ensure that the desired position can be tracked with velocity constrains. At the second step, considering attitude subsystem, an attitude controller is proposed to improve the attitude dynamic response performance. Finally, the validity and superiority of the design has been verified in simulation results.

Trajectory tracking control for quad-rotor system in the presence of velocity constraint