# An Adaptive PID Autotuner for Multicopters with Experimental Results

arXiv: https://arxiv.org/abs/2109.12797 · HTML: https://mlsanity.com/paper/2109.12797/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 39 references that are in the map.
- First posted on arXiv 27 Sep 2021.

## Builds on (most cited first, 2 of 2)

- [Experimental Implementation of an Adaptive Digital Autopilot](https://mlsanity.com/paper/2012.02896/) (2020)
- [Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles](https://mlsanity.com/paper/1806.01623/) (2018)

## Built on by (most cited first, 2 of 2)

- [An Adaptive Digital Autopilot for Fixed-Wing Aircraft with Actuator Faults](https://mlsanity.com/paper/2110.11390/) (2021)
- [Multirotor Ensemble Model Predictive Control I: Simulation Experiments](https://mlsanity.com/paper/2305.12625/) (2023)

## Abstract (arXiv)

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.