Chee, Yin YongOveissi, ParhamShao, SiyuanLee, JoonghyunParedes, Juan A.Bernstein, Dennis S.Goel, Ankit2024-10-282024-10-282024-09-05Chee, Yin Yong, Parham Oveissi, Siyuan Shao, Joonghyun Lee, Juan A. Paredes, Dennis S. Bernstein, and Ankit Goel. “A Hammerstein-Weiner Modification of Adaptive Autopilot for Parameter Drift Mitigation with Experimental Results.” 2024 American Control Conference (ACC), September 5, 2024, 1556–61. https://doi.org/10.23919/ACC60939.2024.10644782.https://doi.org/10.23919/ACC60939.2024.10644782http://hdl.handle.net/11603/367512024 American Control Conference (ACC),10-12 July 2024, Toronto, ON, Canada.A crucial challenge in the safe operation of adaptive controllers is the problem of parameter drift, where an underlying optimization problem, if ill-conditioned, may lead to parameter drift. This paper presents a Wiener adaptive autopilot for multicopters 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.6 pagesen-US© 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.MeasurementUMBC Estimation, Control, and Learning Laboratory (ECLL).NoiseAutopilotPrevention and mitigationCostsNumerical simulationRobustnessText