This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection controller is required to prevent performance degradation in the presence of parametric uncertainty and external disturbance. Furthermore, rotor saturation should be properly addressed in a controller to avoid performance degradation or even instability due to a gap between the commanded input and the actual input during saturation. To address these issues, we present a modified saturated RISE (Robust Integral of the Sign of the Error) control method. The proposed modified saturated RISE controller is developed for expansion to a system with a non-diagonal, state-dependent input matrix. Next, we present reformulation of the system dynamics of a fully actuated multirotor, and apply the control law to the system. The proposed method is validated in simulation where the proposed controller outperforms the existing one thanks to the capability of handling the input matrix.

翻译：本文针对全驱多旋翼提出一种考虑扰动抑制与转子推力饱和的饱和鲁棒控制器。为应对参数不确定性和外部扰动导致的性能退化，需要设计扰动抑制控制器。此外，控制器设计时必须妥善处理转子饱和问题，以避免因饱和状态下指令输入与实际输入之间的偏差引发的性能退化甚至系统失稳。为解决上述问题，本文提出一种改进的饱和RISE（误差符号鲁棒积分）控制方法。该改进饱和RISE控制器专为具有非对角且状态依赖输入矩阵的系统扩展设计。随后，我们重新阐述了全驱多旋翼的系统动力学模型，并将所提控制律应用于该系统。仿真验证结果表明，得益于对输入矩阵的处理能力，所提控制器性能优于现有方法。