Experimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigation

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2304.10634.pdf (1.06 MB)

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https://arxiv.org/abs/2304.10634

Permanent Link

https://doi.org/10.48550/arXiv.2304.10634
 http://hdl.handle.net/11603/28041

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UMBC Mechanical Engineering Department
UMBC Faculty Collection
UMBC Student Collection

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Author/Creator ORCID

https://orcid.org/0000-0001-9326-0319
 https://orcid.org/0000-0002-4146-6275

Date

2023-04-20

Type of Work

journal articles
preprints
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Citation of Original Publication

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Attribution 4.0 International (CC BY 4.0)

Subjects

Abstract

This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot. The modified adaptive controller is obtained by including a static nonlinearity in the adaptive loop, updated by the retrospective cost adaptive control algorithm. It is shown in simulation and physical test experiments that the adaptive autopilot with proposed modifications can continually improve the fixed-gain autopilot as well as prevent the drift of the adaptive parameters, thus improving the robustness of the adaptive autopilot.