An Anti-Windup Compensator for a Rigid-Body NDI-Based Manual Attitude Control System

In this paper, an anti-windup compensation scheme is proposed for the manual mode of a rigid body attitude control system to make the angular velocity dynamics globally asymptotically stable despite actuator saturation. The addressed anti-windup design problem is challenging since the nominal control law includes a nonlinear dynamic inversion element to cancel the nonlinearity in the angular velocity dynamics. The stability of the compensated closed-loop system is proved via the Lyapunov stability criterion appropriately. Moreover, the superiority of the compensated system versus the uncompensated one is demonstrated by simulation.