マルチコプター向け適応型PIDオートチューナーと実験結果
An Adaptive PID Autotuner for Multicopters with Experimental Results
PX4上で1回の飛行中に学習軌道を用いて適応型PIDを自動調整し、質量変化に対するロバスト性を実験で示した論文。
著者: John Spencer, Joonghyun Lee, Juan Augusto Paredes, Ankit Goel, Dennis Bernstein
分類: eess.SY, cs.AI, cs.RO, cs.SY
原文アブストラクト
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 sensitivity of the autotuner to the quadcopter dynamics, the mass of the quadcopter is varied, and the performance of the autotuned and default autopilot is compared. It is observed that the autotuned autopilot outperforms the default autopilot.
