Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's

作者：Ofodile, Nkemdilim A.^*; Turner, Matthew C.

来源：European Journal of Control, 2017, 38: 22-31.

DOI：10.1016/j.ejcon.2017.07.002

• Actuator saturation
• Aerospace applications
• Antiwindup (AW) compensator design
• Nonlinear control
• Quadrotor unmanned air vehicles (UAVs)

This paper describes the development of an anti-windup scheme for systems which consist of a parallel set of double integrators preceded by a static coupling element and a saturation nonlinearity. A class of anti-windup compensators are proposed which can guarantee global asymptotic stability of the origin of the closed-loop system. Simple linear-like guidelines for choosing the anti-windup compensator parameters are also given. The anti-windup compensator designs are evaluated on a quadrotor unmanned aerial vehicle. Simulation results and flight tests are presented to demonstrate the effectiveness of this approach.

• 出版日期2017-11
• 单位中国人民解放军空军电子技术研究所