Abstract:This paper develops an adaptive PID autotuner for multicopters, and presents simulation and experimental results. The autotuner consists of adaptive digital control laws based on retrospective cost adaptive control implemented in the PX4 flight stack. A learning trajectory is used to optimize the autopilot during a single flight. The autotuned autopilot is then compared with the default PX4 autopilot by flying a test trajectory constructed using the second-order Hilbert curve. In order to investigate the sensi… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.