# An Adaptive Digital Autopilot for Fixed-Wing Aircraft with Actuator Faults

arXiv: https://arxiv.org/abs/2110.11390 · HTML: https://mlsanity.com/paper/2110.11390/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 17 references that are in the map.
- First posted on arXiv 21 Oct 2021.

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

- [Experimental Implementation of an Adaptive Digital Autopilot](https://mlsanity.com/paper/2012.02896/) (2020)
- [An Adaptive PID Autotuner for Multicopters with Experimental Results](https://mlsanity.com/paper/2109.12797/) (2021)

## Built on by (most cited first, 1 of 1)

- [Multirotor Ensemble Model Predictive Control I: Simulation Experiments](https://mlsanity.com/paper/2305.12625/) (2023)

## Abstract (arXiv)

This paper develops an adaptive digital autopilot for a fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive digital autopilot is constructed by augmenting the autopilot architecture implemented in PX4 flight stack with adaptive digital control laws that are updated using the retrospective cost adaptive control algorithm. In order to investigate the performance of the adaptive digital autopilot, the default gains of the fixed-gain autopilot are scaled down to degrade its performance. This scenario provides a venue for determining the ability of the adaptive digital autopilot to compensate for the detuned fixed-gain autopilot. Next, the performance of the adaptive autopilot is examined under failure conditions by simulating a scenario where one of the control surfaces is assumed to be stuck at an unknown angular position. The adaptive digital autopilot is tested in simulation, and the resulting performance improvements are examined.