The anti-windup controller design for multi-propeller aerostat based on nested saturation function

This paper proposes two methods to describe the actuator amplitude and rate constraints with nested saturation function. The dynamic model of aerostat in the horizontal plane is established, and then the three order nested saturation controller is designed based on the nested saturation function. And as a result, the amplitude and rate of the actuator output are limited by the amplitude constraints of the nested function and the effectiveness of the control law is verified by simulation. The control quality is guaranteed by the state feedback controller. The advantage of the method is that the controller is simple and has strong ability to suppress disturbance.