New Anti-Windup Control, SIPIC to Improve the Quadcopter Dynamical Performance

With the advancement in technology, the Remotely Piloted Aircraft Systems are gaining much attention in various fields, especially the automatic control aspect. The Proportional-Integral-Derivative (PID) controllers are the most used in flight control implementation. However, PID controller would experience windup due to control saturation which deteriorates the quadcopter flight performance. This led to the introduction and research of anti-windup techniques such the Conditional Integrator (CI) and Steady-state Integral Proportional Integral Controller (SIPIC). This research compared the flight performance of PID, CI, and SIPIC on a quadcopter. CI controller has better performance in roll and pitch axes control as compared to PID. SIPIC shows promising performance in the simulation with faster rise and settling time which will give fast response and high precision in performing more complex tasks.