Abstract: Addressing the safety control problem of aggressive maneuvering flight for Unmanned Autonomous Helicopters (UAH) under multi-constraint coupling environments, this study proposes a coordinated safety flight control strategy for multiple-type constraints under interval-type and norm-type dual-mode constraints, building upon the advantages of interval constraint processing. By designing a class of saturation-like smooth functions, not only does it achieve smooth transition of commands at interval constraint boundaries, but also constructs quadratic boundaries in norm space, fundamentally expanding constraint processing dimensions and effectively alleviating the negative impacts of control saturation on closed-loop stability. Furthermore, a multi-constraint coordination mechanism based on dynamic priority scheduling is established to eliminate the influence of command limiting on closed-loop stability. On this basis, a hierarchical control architecture is constructed to realize decoupled design of position loop and attitude loop. Through methods including input-to-state stability, closed-loop invariant sets, and Lyapunov functions, the controller parameter design is systematically summarized along with the stability, safety, and steady-state tracking performance of UAH closed-loop systems. Finally, the effectiveness of the proposed strategy is verified through a full-scale nonlinear model of a medium-sized UAH.

Key words: unmanned autonomous helicopters, safety flight control, maneuvering flight, state constraints, input saturation