The problem of designing a controller for a multi-vectored propeller airship with independent amplitude and rate saturations is addressed. First, a linear Proportional-Integral-Derivative (PID) controller is introduced for position control without considering the input saturations. Then, two design methods are applied to the traditional PID control output to satisfy the independent amplitude and rate constraints: the nested saturated PID controller (N-PID) and the transformed PID controller (T-PID). The bounded magnitudes and rate outputs of the modified controllers are given. Simulation results showed both controllers have good tracking performance while satisfying independent amplitude and rate saturations. However, the transformed PID controller has the advantage of expressing explicitly the relationship of the actuator magnitude and rate saturations with the parameters of the transformed function such that the actuator saturations are suppressed by calculation but not by trial and error.

解决了具有独立幅度和速率饱和度的多矢量螺旋桨飞艇控制器的设计问题。首先，引入线性比例积分微分（PID）控制器进行位置控制，而不考虑输入饱和度。然后，将两种设计方法应用于传统PID控制输出以满足独立的幅度和速率约束：嵌套饱和PID控制器（N-PID）和变换PID控制器（T-PID）。给出了修改后的控制器的有界幅度和速率输出。仿真结果表明，两种控制器都具有良好的跟踪性能，同时满足独立的幅度和速率饱和度。然而，变换的PID控制器的优点是明确地表达执行器幅度和速率饱和与变换函数的参数的关系，使得执行器饱和通过计算而不是通过试错来抑制。