An Adaptive Digital Autopilot for Fixed-Wing Aircraft with Actuator Faults
This paper develops an adaptive digital autopilot for a fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive digital autopilot is constructed by augmenting the autopilot architecture implemented in PX4 flight stack with adaptive digital control laws that are updated using the retrospective cost adaptive control algorithm. In order to investigate the performance of the adaptive digital autopilot, the default gains of the fixed-gain autopilot are scaled down to degrade its performance. This scenario provides a venue for determining the ability of the adaptive digital autopilot to compensate for the detuned fixed-gain autopilot. Next, the performance of the adaptive autopilot is examined under failure conditions by simulating a scenario where one of the control surfaces is assumed to be stuck at an unknown angular position. The adaptive digital autopilot is tested in simulation, and the resulting performance improvements are examined.
Code (0)
등록된 구현이 없습니다.
Tasks
PositionSimilar Papers 제목 키워드 기반
Experimental Flight Testing of a Fault-Tolerant Adaptive Autopilot for Fixed-Wing Aircraft
This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive con…
A Data-Driven Autopilot for Fixed-Wing Aircraft Based on Model Predictive Control
Autopilots for fixed-wing aircraft are typically designed based on linearized aerodynamic models consisting of stability and control derivatives obtained from wind-tunnel testing. The resulting local controllers are then…
Model Predictive ControlSchedulingA Stochastic Compound Failure Model for Testing Resilience of Autonomous Fixed-Wing Aircraft I: Formulation and Simulation
This paper presents a Markov chain model to dynamically emulate the effects of adverse (failure) flight conditions on fixed-wing, autonomous aircraft system actuators. It implements a PX4 Autopilot flight stack module th…
Imitation Learning for Neural Network Autopilot in Fixed-Wing Unmanned Aerial Systems
This research identifies the feasibility of training an artificial neural network (ANN) autopilot, using supervised learning techniques, including an imitation learning framework known as the data aggregation set (DAgger…
Imitation LearningExperimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigation
This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot. The modified adaptiv…