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In this paper, the problem of anti-windup compensator (AWC) design for guidance and control of quadrotors in an unknown environment is addressed. Quadrotors can be affected by disturbances (such as wind), which potentially result in saturation of the propellers. When saturation occurs, the flight can become unstable, leading to a crash. On the other hand, designing an AWC to mitigate the saturation effects in the control system of a quadrotor can be a challenging task due to the heavy couplings and complex nonlinear dynamics. For this reason, we propose a new structure to design an AWC-based control system to solve this problem. Simulation results are presented in three cases: 1-without saturation, 2-with saturation - without AWC, 3-with saturation - with AWC. The effectiveness of the proposed theoretical results are verified by comparisons.
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Anti-Windup Compensation for Quadrotor Trajectory Tracking With External Disturbances
This letter considers the problem of trajectory tracking for quadrotors operating in wind conditions that result in propeller thrust saturation. To address this problem, an anti-windup compensator (AWC) is developed to reduce the tracking performance degradation and destabilizing effects from thrust saturation. Relationships are derived showing how the tracking error and AWC states are influenced by the wind disturbance and saturation, and how the influences depend on the controller and AWC gains. As a result, these gains can be tuned to achieve desired performance levels. Simulation results are presented to validate the effectiveness of the proposed method.
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- Award ID(s):
- 2219008
- PAR ID:
- 10625681
- Editor(s):
- Tarbouriech, S
- Publisher / Repository:
- IEEE
- Date Published:
- Journal Name:
- IEEE Control Systems Letters
- Volume:
- 8
- ISSN:
- 2475-1456
- Page Range / eLocation ID:
- 2913 to 2918
- Subject(s) / Keyword(s):
- Quadrotors, tracking, anti-windup
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1109/LCSYS.2024.3516635
