A robust nested saturation control algorithm for quadrotor UAV is proposed to address the problems during mission execution,such as power system constraints from input saturation,strict convergence conditions,slow convergence speed,low steady-state accuracy,and weak robustness of traditional nested saturation control algorithms.Firstly,a nested saturation control algorithm with relatively relaxed conditions was designed,the design difficulty was reduced and the stability of closed loop system is given.Secondly,based on condition relaxed nested saturation control algorithm,self-coupling PD and compensation function observer is introduced to improve the response speed,steady-state accuracy,and robustness of the system.The global stability of the closed loop system is demonstrated using the Lyapunov stability principle.Finally,the proposed algorithm is compared with traditional nested saturation control algorithm and PD control algorithm through simulation,and the results show that the algorithm proposed in this paper is optimal in terms of transient performance,steady-state performance,and robustness.
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