Experimental validation of an anti-windup design trading off position and heading direction control performance for quadrotor UAVs. Issue 22 (2022)

• Record Type: Journal Article
• Authors: Marzagalli, Francesco; Ghignoni, Pietro; Gozzini, Giovanni; Invernizzi, Davide
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 22(2022)
• Page Start: 117
• Page End: 122
• Publication Date: 2022
• Subjects: Anti-windup -- saturation -- UAVs -- position control -- attitude control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2023.03.020
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We present the experimental validation of a recently developed anti-windup design to guarantee stability and a desired level of performance in the presence of propellers saturation in quadrotor UAVs. The considered solution exploits a decentralized LMI-based compensator to mitigate directionality issues affecting saturated multi-variable plants and to achieve satisfactory time-domain performance for reference signals of interest. After discussing saturation effects in quadrotors, we first show how the compensator can be implemented on top of a popular cascade control architecture for underactuated multi-rotors and then how it can be tuned to prioritize position/heading direction control objectives. The design is finally validated through experiments in representative flight conditions.