论文标题
自适应数字自动驾驶的实验实施
Experimental Implementation of an Adaptive Digital Autopilot
论文作者
论文摘要
本文开发了一种适用于四肢杆菌的自适应数字自动驾驶仪，并提出了实验结果。自适应数字自动驾驶仪是通过基于回顾性成本自适应控制（RCAC）来增强PX4自动驾驶控制系统体系结构来构建的。为了调查自适应数字自动驾驶仪的性能，固定增益自动驾驶仪的默认增益会以很小的因素缩放，从而严重降低了其性能。因此，这种情况为确定自适应数字自动驾驶仪补偿固定增益自动驾驶仪的能力提供了一个场所。在模拟和物理飞行测试中测试了自适应数字自动驾驶仪，并检查了由此产生的性能改进。
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.
