Time-varying control strategies for quadrotor dynamics with enhanced anti-windup capabilities

This paper proposes robust control strategies for position and attitude, incorporating anti-windup mechanisms to address actuator saturation and improve transient performance in quadrotors. The methodology features a robust, continuously differentiable, saturated position feedback law with anti-windup compensation, alongside a robust attitude tracking controller formulated in quaternion representation. This framework is particularly adept at handling constant biases in the moment of inertia and constant disturbances in both position and attitude closed-loop subsystems. A dynamic activation mechanism governs the anti-windup component, reducing overshoot and enhancing performance. Leveraging Matrosov’s Theorem, the proposed control architecture demonstrates robustness against bounded disturbances and ensures almost uniform global asymptotic stability of the full tracking error dynamics. Simulation results confirm the viability and effectiveness of the proposed approach.