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Li, Peng (author), Liu, Di (author), Xia, Xin (author), Baldi, S. (author)The operation of Unmanned Aerial Vehicles (UAVs) is often subject to state-dependent alterations and unstructured uncertainty factors, such as unmodelled dynamics, environmental weather disturbances, aerodynamics gradients, or changes in inertia and mass due to payloads. While a large number of autopilot solutions have been proposed to operate...conference paper 2022
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Baldi, S. (author), Sun, Danping (author), Xia, Xin (author), Zhou, Guopeng (author), Liu, Di (author)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...journal article 2022