Anti-windup active disturbance rejection control of tiltable-rotors fully-actuated hexarotor

Tiltable-rotors fully-actuated unmanned aerial vehicles achieve full control by dynamically adjusting thrust vector direction through tilting mechanisms. However, physical constraints on actuator amplitudes and rates lead to noticeable actuator saturation effects. Such saturation can cause the thrust vector to deviate from desired values, compromising control system performance and potentially resulting in unmanned aerial vehicle crashes. To address this issue, this paper proposes an anti-windup control method for tiltable-rotors fully-actuated hexarotor unmanned aerial vehicles. This method applies anti-windup principles to control allocation and controllers, obtaining the optimal actuator solution within saturation constraints. It compensates for saturation-induced disturbances using an anti-windup linear active disturbance rejection control. Simulation results demonstrate that this method enables the hexarotor unmanned aerial vehicles to achieve decoupled position and attitude tracking under various saturation constraints, proving the feasibility of resisting actuator amplitude and rate saturation.