MATLAB Implementation of Nested Saturation Control Algorithm for Quadrotor Aircraft

In this article, we provide a comprehensive overview of the MATLAB implementation program for the nested saturation control algorithm applied to quadrotor aircraft. We begin by explaining the fundamental concepts of quadrotor dynamics and the necessity of nested saturation control for handling system constraints and ensuring stable flight performance. Subsequently, we conduct an in-depth examination of various aspects of the MATLAB implementation, including algorithm design methodology, control system architecture, and code optimization techniques. The implementation features key MATLAB functions such as saturation limit handling, state-space modeling, and PID controller integration with nested saturation layers. We also demonstrate how to conduct simulation experiments using MATLAB's Simulink environment and Aerospace Toolbox to validate the program's correctness and reliability through trajectory tracking tests and disturbance rejection scenarios. Finally, we discuss the practical applications of this algorithm in real-world UAV systems and explore potential enhancements such as adaptive gain scheduling and hardware-in-the-loop testing capabilities.