Simple Adaptive Control With an Adaptive Anti-Windup Compensator for the Unmanned Aerial Vehicle Attitude Control

This paper presents an extension of the simple adaptive control (SAC) deal with input saturation for the attitude control of the unmanned aerial vehicle (UAV). A new SAC structure with the virtual saturation function and adaptive anti-windup compensator is proposed to deal with the actuator saturation caused by the actuator fault and parameter uncertainty. Furthermore, the stability of the entire closed-loop system is theoretically proved by the Lyapunov analysis. To demonstrate its practicality, the designed controller is tested on the attitude control of the UAV, showing enhanced anti-windup ability over the conventional SAC in the presence of the actuator fault and parameter uncertainty.