Combined Static and Dynamic Anti-Windup Compensation for Quadcopters Experiencing Large Disturbances

Abstract

This paper proposes a composite anti-windup design approach in which the anti-windup compensator features both dynamic and static components. The advantage of the extra static component is that it can be specially structured to limit classical integrator wind-up, which is useful in nonlinear systems that operate far from their design operating point. An approach to combining the static and dynamic elements is provided that ensures closed-loop stability, yet with the structure of the static compensator preserved. The work is motivated by the need to stabilize quadcopters subject to large disturbances, and excerpts from an extensive simulation campaign are reported. The simulations clearly indicate that the combination of dynamic and static anti-windup compensation provides stability for significantly larger disturbances than either static or dynamic anti-windup compensation alone.