Adaptive Robust Constraint-Based Nonlinear Control for Trajectory Tracking and Dynamic Obstacle Avoidance in Multi-copter UAVs

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This is an unedited manuscript accepted for publication and provided as an Article in Press for early access at the author’s request. The article will undergo copyediting, typesetting, and galley proof review before final publication. Please be aware that errors may be identified during production that could affect the content. All legal disclaimers of the journal apply.

Year : 2026 | Volume : 2 | 02 | Page :
    By

    Dr. E. Dhananjaya*,

  1. Senior Lecturer, Department of Mathematics, Government Polytechnic College, Vempalli, Andhra Pradesh, India

Abstract

An adaptive robust nonlinear control system for multi-copter unmanned aerial vehicles (UAVs) trajectory tracking and obstacle avoidance is presented in this research. The suggested approach addresses nonlinear dynamics and environmental uncertainties by combining adaptive disturbance estimates with constraint-based control. Nonlinear differential equations are used to simulate the motion of the UAV, with obstacle avoidance represented as an inequality constraint and trajectory tracking as an equality constraint. The Udwadia–Kalaba method is used to create an analytical control law, which is then improved with adaptive and Lyapunov-based design to increase resilience against shocks and modeling mistakes. In order to enable smooth and continuous avoidance of dynamic barriers, a transformation technique is presented that transforms restricted safety restrictions into an unbounded domain. The closed-loop system’s stability is determined via Lyapunov analysis. The suggested method is appropriate for real-world UAV applications, as demonstrated by simulation results that show precise trajectory tracking, efficient disturbance rejection, and dependable collision avoidance under various conditions.

Keywords: UAV, adaptive nonlinear control, trajectory tracking, obstacle avoidance, disturbance rejection, Lyapunov stability, constraint-based control

How to cite this article:
Dr. E. Dhananjaya*. Adaptive Robust Constraint-Based Nonlinear Control for Trajectory Tracking and Dynamic Obstacle Avoidance in Multi-copter UAVs. International Journal on Drones. 2026; 02(02):-.
How to cite this URL:
Dr. E. Dhananjaya*. Adaptive Robust Constraint-Based Nonlinear Control for Trajectory Tracking and Dynamic Obstacle Avoidance in Multi-copter UAVs. International Journal on Drones. 2026; 02(02):-. Available from: https://journals.stmjournals.com/ijd/article=2026/view=244809


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Ahead of Print Subscription Review Article
Volume 02
02
Received 05/04/2026
Accepted 13/04/2026
Published 30/04/2026
Publication Time 25 Days
5

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