Abstract
This paper addresses the problem of safety-critical control for a Coaxial Octorotor UAV (COUAV). A Multi-Input-Multi-Output (MIMO) super-twisting Sliding Mode Controller (SMC) is designed as the nominal control strategy for trajectory tracking of COUAV, taking into consideration coupling effects. Additionally, a High Order Control Barrier Function (HOCBF) is proposed to ensure the safety of the trajectory. To validate the proposed method, a heavy-lift COUAV is simulated considering static and moving obstacles.