Dynamic Anti-windup Compensation Control of Yaw Movement for a Coaxial Eight-Rotor Unmanned Flying Robot

摘要

The actuator saturation tends to occur in the yaw movement of the coaxial eight-rotor unmanned flying robot under external disturbances, for the reason that the yaw movement is much weaker than the pitch and roll movement. For this problem, a dynamic anti-windup compensator based on linear active disturbance rejection controller(LADRC) is proposed from the perspective of practical engineering application. LADRC is easy to adjust in engineering, and can estimate and compensate external disturbances in real time. On this basis, a dynamic anti-windup compensator is devised to prevent actuator saturation in the yaw movement. Then, the stability of the yaw control system with dynamic anti-windup compensator based on LADRC is proved. Finally, the validity and robustness of the proposed algorithm are verified via numerical simulations and coaxial eight-rotor unmanned flying robot experiment.