Anti-Windup Design for Fixed-Tilt Hexarotor in Aerial Physical Interaction

This paper presents an anti-windup (AW) augmentation scheme designed to recover the performance of an unconstrained baseline controller under actuator saturation for a hexarotor with fixed-tilt propellers. The fixed-tilt configuration, which enhances the maneuverability and interaction capabilities compared to standard coplanar systems, also introduces direction-dependent force limits that must be carefully addressed in the design of control laws. Our method integrates the linearized dynamics of the hexarotor with its mixer matrix and synthesizes the AW compensator via LMI-based optimization. Simulation results show that, under actuator saturation conditions, the AW-augmented controller closely matches the unconstrained controller's behavior while reducing transient dynamics and altitude loss due to external disturbances. These results underscore the potential of the proposed framework for enhancing UAV performance during complex maneuvers particularly during aerial interaction.