IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society 2021
DOI: 10.1109/iecon48115.2021.9589106
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Plug-and-play adaptation in autopilot architectures for unmanned aerial vehicles

Abstract: An accepted autopilot control architecture for fixed-wing unmanned aerial vehicles (UAVs) is the so-called cascaded loop closure, in which inner velocity loops and outer position loops are successively closed with proportionalintegral-derivative (PID) controllers. This architecture has become so standard that popular open-source autopilots (e.g. ArduPilot, PX4) implement it in their codes. Despite its popularity, such architecture cannot adequately cope with the inevitable uncertainty in the UAV dynamics. In t… Show more

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Cited by 3 publications
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