Experimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigation

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dc.contributor.authorChee, Yin Yong
dc.contributor.authorOveissi, Parham
dc.contributor.authorShao, Siyuan
dc.contributor.authorLee, Joonghyun
dc.contributor.authorParedes, Juan A.
dc.contributor.authorBernstein, Dennis S.
dc.contributor.authorGoel, Ankit
dc.date.accessioned2023-05-22T19:11:18Z
dc.date.available2023-05-22T19:11:18Z
dc.date.issued2023-04-20
dc.description.abstractThis 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.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/2304.10634en_US
dc.format.extent6 pagesen_US
dc.genrejournal articlesen_US
dc.genrepreprintsen_US
dc.identifierdoi:10.13016/m2csou-mati
dc.identifier.urihttps://doi.org/10.48550/arXiv.2304.10634
dc.identifier.urihttp://hdl.handle.net/11603/28041
dc.language.isoen_USen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Mechanical Engineering Department Collection
dc.relation.ispartofUMBC Student 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.titleExperimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigationen_US
dc.typeTexten_US
dcterms.creatorhttps://orcid.org/0000-0001-9326-0319en_US
dcterms.creatorhttps://orcid.org/0000-0002-4146-6275en_US

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