Output Robust Control with Anti-Windup Compensation for Quadcopters*

In the paper an output control approach for quad copters under the condition of the bounded input signal is presented. This algorithm is based on the high-gain principle "consecutive compensator", which was augmented by an auxiliary integral loop in order to implement the anti-windup scheme. The mathematical model describing quadcopters is decomposed on two parts: a static MIMO transformation and six SISO dynamical channels. The controller generates virtual input signals for these channels, which after inverse MIMO transformation are allocated between the actuators as real bounded control signals.