Control of quadrotors with actuator saturations

Actuator saturation is a common problem in the actual system of quadrotors. In this paper, we study the control method of quadrotors with actuator saturations, and we propose a static rescaling method. Firstly, the system control of quadrotors is divided into the attitude and position control. The modified backstepping control method is used to obtain the ideal control law. Secondly, we stabilize the quadrotors by rescaling the control law. Finally, simulation results show that the proposed method can quickly stabilize the quadrotors with actuator saturations. So, we can verify the effectiveness of this control method.