ArduPilot-Based Adaptive Autopilot: Architecture and Software-in-The-Loop Experiments

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...

Analytical solution of a mass-spring system containing shape memory alloys: Effects of nonlinearity and hysteresis

Nonlinear dynamics of vibration systems containing NiTi shape memory alloy (SMA) bars has long been obscured by the lack of an analytical solution, like the analytical solution for duffing equation. The problem results from the nonlinear and hysteretic restoring force of the SMA bar. Here we use a piecewise linear hysteretic model to describe...