Retrospective Cost Adaptive PID Control of Quadcopter/Fixed-Wing Mode Transition in a VTOL Aircraft

Ansari, Ahmad; Zhang, Ningyuan; Bernstein, Dennis S.

doi:10.2514/6.2018-1838

Cited by 7 publications

(2 citation statements)

References 19 publications

(21 reference statements)

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“…Resulting model can simulate different propulsion modes and the transition between them during a typical mission profile which is shown in Figure 3: proposed UAV can perform VTOL using only vertical propellers as a standard octocopter [47]. As the UAV reaches an assigned altitude, transition from VTOL to fixed wing mode and vice versa can be performed using transition methods proposed in literature [48]. Respect to full electric systems [16], autonomy in fixed wing mode is much higher since the rear propeller is directly connected to the ICE.…”

Section: Uav Modellingmentioning

confidence: 99%

An Innovative UAV with VTOL Capabilities

Pugi¹,

Berzi²,

Favilli³

et al. 2023

Preprint

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Object of this work is the design and the simulation of a hybrid UAV with VTOL capabilities that has been designed for landing on naval moving platforms. The work is focused on the innovative propulsion layout adopted on the UAV. Authors discuss how adopted low level control strategies can exploit the innovative features of the proposed system assuring a good rejection of transversal wind disturbances. Particular attention is dedicated to low level modelling and control of the system emphasizing how choices regarding low level actuation and control should improve performances and robustness of the system.

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Section: Uav Modellingmentioning

confidence: 99%

An Innovative UAV with VTOL Capabilities

Pugi¹,

Berzi²,

Favilli³

et al. 2023

Preprint

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show abstract

“…In this paper, in contrast, the adaptive digital autopilot controller coefficients are all initialized at zero and, thus, don't require any conditioning. Retrospective-cost based PID controllers were used in the attitude controller in [13], and were applied with fixed hyperparameter tuning to a quadcopter, a fixed-wing aircraft, and a VTOL aircraft in a simulation environment. In [14], retrospective-cost adaptive control law was used to compensate for the payload mass uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Experimental Implementation of an Adaptive Digital Autopilot

Goel¹,

Paredes²,

Dadhaniya³

et al. 2020

Preprint

Self Cite

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This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot control system architecture with adaptive digital control laws based on retrospective cost adaptive control (RCAC). In order to investigate the performance of the adaptive digital autopilot, the default gains of the fixed-gain autopilot are scaled by a small factor, which severely degrades its performance. This scenario thus provides a venue for determining the ability of the adaptive digital autopilot to compensate for the detuned fixed-gain autopilot. The adaptive digital autopilot is tested in simulation and physical flight tests, and the resulting performance improvements are examined.

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An Online Aircraft Control Platform for the Online Artificial Intelligence Education

Kang

Duan

2021

Lecture Notes in Electrical Engineering

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Retrospective Cost Adaptive PID Control of Quadcopter/Fixed-Wing Mode Transition in a VTOL Aircraft

Cited by 7 publications

References 19 publications

An Innovative UAV with VTOL Capabilities

An Innovative UAV with VTOL Capabilities

Experimental Implementation of an Adaptive Digital Autopilot

An Online Aircraft Control Platform for the Online Artificial Intelligence Education

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