Print Email Facebook Twitter ArduPilot-Based Adaptive Autopilot Title ArduPilot-Based Adaptive Autopilot: Architecture and Software-in-The-Loop Experiments Author Baldi, S. (TU Delft Team Bart De Schutter; Southeast University) Sun, Danping (Wuhan Textile University; Hubei Electrical Machinery and Control System Engineering Technology Research Center) Xia, Xin (Southeast University) Zhou, Guopeng (Hubei Electrical Machinery and Control System Engineering Technology Research Center) Liu, Di (Southeast University; Rijksuniversiteit Groningen) Date 2022 Abstract This article presents an adaptive method for ArduPilot-based autopilots of fixed-wing unmanned aerial vehicles (UAVs). ArduPilot is a popular open-source unmanned vehicle software suite. We explore how to augment the PID loops embedded inside ArduPilot with a model-free adaptive control method. The adaptive augmentation, adopted for both attitude and total energy control, uses input/output data without requiring an explicit model of the UAV. The augmented architecture is tested in a software-in-The-loop UAV platform in the presence of several uncertainties (unmodeled low-level dynamics, different payloads, time-varying wind, and changing mass). The performance is measured in terms of tracking errors and control efforts of the attitude and total energy control loops. Extensive experiments with the original ArduPilot, the proposed augmentation, and alternative autopilot strategies show that the augmentation can significantly improve the performance for all payloads and wind conditions: The UAV is less affected by wind and exhibits more than 70% improved tracking, with more than 7% reduced control effort. Subject ArduPilotattitude controlautopilotmodel-free adaptive controltotal energy controlunmanned aerial vehicle (UAV) To reference this document use: http://resolver.tudelft.nl/uuid:83270c60-8335-4bf4-ab17-73295c7b6690 DOI https://doi.org/10.1109/TAES.2022.3162179 Embargo date 2023-07-01 ISSN 0018-9251 Source IEEE Transactions on Aerospace and Electronic Systems, 58 (5), 4473-4485 Bibliographical note Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2022 S. Baldi, Danping Sun, Xin Xia, Guopeng Zhou, Di Liu Files PDF ArduPilot_Based_Adaptive_ ... iments.pdf 3.7 MB Close viewer /islandora/object/uuid:83270c60-8335-4bf4-ab17-73295c7b6690/datastream/OBJ/view