Static anti-windup compensator design for autonomous guidance and control of quadrotors

In this paper, the problem of anti-windup compensator (AWC) design for implementation in the autonomous guidance and control of quadrotors is addressed. The flight environment contains obstacles with no prior knowledge of their locations. Instead, obstacles location are determined in real time, and the locations are used by a guidance algorithm for avoidance. Wind disturbances are also considered since their presence can potentially result in saturation of the propellers. When this occurs, the flight can become unstable, leading to a crash. Designing an AWC to mitigate the effects of saturation 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 a static AWC-based control system to solve this problem. The effectiveness of the proposed theoretical results are verified by comparing results from simulation experiments.