Control Barrier Functions on a Pseudo Control Level for Safe Flight Control

Kurzfassung

Control Barrier Function (CBF) have gained popularity in ensuring the safety of systems with complex control laws, specifically outside the aerospace community. This paper proposes an approach for adding CBF to a pseudo control-based control law to ensure, e.g., envelope protections of aircraft. Applying the safety filter at the pseudo control level rather than the control input level offers several advantages for applicability in the aerospace domain, including reduced execution time. The proposed algorithm is validated in simulation using a linear short-period ADMIRE fighter and a linear hexacopter model. The execution time of the three approaches is compared using a microcontroller.