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 adaptive controller is obtained by including a static nonlinearity in the adaptive loop, updated by the retrospective cost adaptive control algorithm. It is shown in simulation and physical test experiments that the adaptive autopilot with proposed modifications can continually improve the fixed-gain autopilot as well as prevent the drift of the adaptive parameters, thus improving the robustness of the adaptive autopilot.

翻译：本文对自适应多旋翼飞行器自动驾驶仪进行了改进，以缓解由自适应参数漂移引起的不稳定性问题，并通过仿真与实验验证了改进后的自动驾驶仪性能。改进后的自适应控制器通过在自适应环路中引入静态非线性环节，并利用回溯代价自适应控制算法进行更新。仿真与实际飞行测试实验表明，采用所提改进方案的自适应自动驾驶仪能够持续提升固定增益自动驾驶仪的性能，同时防止自适应参数漂移，从而增强了自适应自动驾驶仪的鲁棒性。