Title: Anti-windup attitude control for UAVs based on exponential coordinates

Authors: Chao Liu

Addresses: School of Physics and Mechatronic Engineering, Guizhou Minzu University, Guiyang, Guizhou, China

Abstract: This paper investigates the manoeuvring capabilities of UAVs with a focus on addressing the challenges posed by kinematic representation singularities and actuator saturation. Initially, it introduces a novel approach where the attitude kinematics of UAVs are represented on a configuration manifold, employing exponential coordinates to describe their evolution on the tangent space of this manifold. Subsequently, the paper develops a control model based on the UAV's attitude model with exponential coordinates, followed by the creation of an inverse model. Leveraging this, a state feedback controller using PCH (pseudo control hedging) is devised. The simulation results underscore the significance of this work, demonstrating that the designed controller effectively enables UAVs to sharply and accurately track desired angles while mitigating performance degradation caused by actuator saturation.

Keywords: UAV; exponential coordinates; anti-windup; pseudo control hedging; PCH; exponential stability.

DOI: 10.1504/IJMIC.2025.147941

International Journal of Modelling, Identification and Control, 2025 Vol.46 No.1, pp.30 - 37

Received: 06 May 2024
Accepted: 01 Nov 2024
Published online: 11 Aug 2025 *

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