Combined Static and Dynamic Antiwindup Architecture with Application to Quadcopters Experiencing Large Disturbances

This paper proposes a composite anti-windup design approach, featuring both dynamic and static components. The extra static component is specially structured to limit classical integrator wind-up, and is useful in nonlinear systems which operate far from their design operating point. An approach for stability analysis and design of the combined scheme is also provided. The work was motivated by the need to stabilise quadcopters subject to large disturbances, and excerpts from an extensive simulation campaign are reported. The simulations indicate that the combination of dynamic and static terms provide stability for significantly larger disturbances than either static or dynamic anti-windup alone.