This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider spatial constraints, the proposed strategy considers spatial constraints on each degree of freedom movement of the UAV. Such consideration makes the design appealing for many practical applications, such as pipeline inspection, boundary tracking, etc. The proposed design accounts for the limited information about the inertia matrix, thereby affirming its inherent robustness against unmodeled dynamics and other imperfections. We rigorously show that the UAV will converge to its desired path by maintaining bounded position, orientation, and linear and angular speeds. Finally, we demonstrate the effectiveness of the proposed strategy through various numerical simulations.

翻译：本文提出了一种在空间约束条件下针对无人机的三维非线性轨迹跟踪控制策略。与许多不考虑空间约束的现有控制策略不同，所提出的策略考虑了无人机每个自由度运动上的空间约束。这种考量使得该设计对许多实际应用具有吸引力，例如管道检测、边界跟踪等。所提出的设计考虑了对惯性矩阵信息的有限了解，从而确保了其对于未建模动态和其他不完善因素的内在鲁棒性。我们严格证明了无人机将通过保持有界的位置、姿态以及线速度和角速度收敛到其期望路径。最后，我们通过各种数值仿真验证了所提出策略的有效性。