An Adaptive PID Autotuner for Multicopters with Experimental Results
John Spencer,Joonghyun Lee,Juan Augusto Paredes,Ankit Goel,Dennis Bernstein,John Spencer,Joonghyun Lee,Juan Augusto Paredes,Ankit Goel,Dennis Bernstein
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 autopi...
