An Adaptive PID Autotuner for Multicopters with Experimental Results

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dc.contributor.authorSpencer, John
dc.contributor.authorLee, Joonghyun
dc.contributor.authorParedes, Juan Augusto
dc.contributor.authorGoel, Ankit
dc.contributor.authorBernstein, Dennis
dc.date.accessioned2021-10-22T16:52:39Z
dc.date.available2021-10-22T16:52:39Z
dc.date.issued2021-09-27
dc.description.abstractThis paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results. The autotuner consists of adaptive digital control laws based on retrospective cost adaptive control implemented in the PX4 flight stack. A learning trajectory is used to optimize the autopilot during a single flight. The autotuned autopilot is then compared with the default PX4 autopilot by flying a test trajectory constructed using the second-order Hilbert curve. In order to investigate the sensitivity of the autotuner to the quadcopter dynamics, the mass of the quadcopter is varied, and the performance of the autotuned and default autopilot is compared. It is observed that the autotuned autopilot outperforms the default autopilot.en_US
dc.description.sponsorshipThis research was supported in part by the Office of Naval Research under grant N00014-19-1-2273.en_US
dc.description.urihttps://arxiv.org/abs/2109.12797en_US
dc.format.extent7 pagesen_US
dc.genrejournal articlesen_US
dc.genrepreprintsen_US
dc.identifierdoi:10.13016/m2gash-uaic
dc.identifier.urihttp://hdl.handle.net/11603/23150
dc.language.isoen_USen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Mechanical Engineering Department Collection
dc.relation.ispartofUMBC Faculty Collection
dc.rightsThis item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.en_US
dc.rightsAttribution 4.0 International (CC BY 4.0)*
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/*
dc.titleAn Adaptive PID Autotuner for Multicopters with Experimental Resultsen_US
dc.typeTexten_US
dcterms.creatorhttps://orcid.org/0000-0002-4146-6275en_US

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