Adaptive control and parameter-dependent anti-windup compensation for inertia-varying quadcopters*

novel parameter-dependent anti-windup compensator is developed to improve the performance of a constrained model reference adaptive controller. The combined control structure solves input saturation and stability problem for inertia-varying quadcopters. synthesis follows conventional two-step design paradigm where nominal controller designed without consideration while minimise deviations from caused by saturated inputs. To account varying inertia quadcopter during package retrieval/delivery routines, parameters vehicle/package are estimated with an online recursive identification technique. These estimates used schedule compensator. Anti-windup conditions formulated as set linear matrix inequalities, which when solved, yield gain-scheduled that ensures minimises deviation occurs. effectiveness scheme demonstrated simulations input-constrained lifting payload unknown mass.