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Baldi, S. (author), Roy, Spandan (author), Yang, Kang (author), Liu, Di (author)Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of...journal article 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