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A safe controller for multicopter is proposed using control barrier function.Multicopter dynamics are reformulated to deal with mixed-relative-degree andnon-strict-feedback-form dynamics, and a time-varying safe backsteppingcontroller is designed. Despite the time-varying variation, it is proven thatthe control input can be obtained by solving quadratic programming with affineinequality constraints. The proposed controller does not utilize a cascadecontrol system design, unlike existing studies on the safe control ofmulticopter. Various safety constraints on angular velocity, total thrustdirection, velocity, and position can be considered. Numerical simulationresults support that the proposed safe controller does not violate all safetyconstraints including low- and high-level dynamics.

Safe Control Synthesis for Multicopter via Control Barrier Function Backstepping