Saturated D-type ILC for Multicopter Trajectory Tracking Based on Additive State Decomposition

In this paper, a saturated D-type iterative learning control (ILC) method is proposed for multicopter trajectory tracking based on the additive state decomposition (ASD) method. By using the ASD method, the multicopter nonlinear horizontal channel with input saturation is divided into a linear primary system and a nonlinear secondary system. The ILC method for linear systems can be used directly in the linear primary system to track desired trajectories. A state feedback is applied to stabilize the nonlinear secondary system. Then, the above two controllers are combined to achieve the control goal. Simulation results demonstrate the feasibility of the proposed method for the multicopter trajectory tracking problem with input saturation and other nonlinearities.