Input saturated controller for quadrotor hovering
Abstract
In this document, a controller with saturated inputs for quadrotors performing a hover task is presented. The controller is developed considering the properties of the vehicle model and the physical restrictions associated with the rotors. The controller design establishes the saturation limits to keep the input signals from exceeding the maximum ratings of the actuators and, at the same time, ensure the fulfillment of the assigned task. The stability of the closed-loop system is analyzed using the Lyapunov theory guaranteeing asymptotic convergence of the quadrotor position error. The functionality of the control proposal is validated using numerical simulations demonstrating the advantages of considering the effect of saturation in the controller design.
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References
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