Anti-Windup Compensator Design for Fixed-Tilt Multirotors with Interaction Capabilities

This work addresses actuator saturation in fixed-tilt multirotor platforms used for aerial interaction. The fixed-tilt configuration imposes lateral force limitations, and exceeding these bounds under external disturbances can degrade performance and stability. To mitigate this, an anti-windup (AW) compensator is synthesized via an LMI-based convex optimization framework derived from the linearized closed-loop dynamics. An external wrench observer is integrated to estimate and counteract interaction and aerodynamic disturbances. The proposed AW augmented compensator structure preserves local stability during saturation, achieving improved transient behavior in simulation on the ARIES tiltrotor platform.