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This paper presents an adaptive autopilot for fixed-wing aircraft andcompares its performance with a fixed-gain autopilot. The adaptive autopilot isconstructed by augmenting the autopilot architecture with adaptive control lawsthat are updated using retrospective cost adaptive control. In order toinvestigate the performance of the adaptive autopilot, the default gains of thefixed-gain autopilot are scaled to degrade its performance. This scenarioprovides a venue for determining the ability of the adaptive autopilot tocompensate for the degraded fixed-gain autopilot. Next, the performance of theadaptive autopilot is examined under failure conditions by simulating ascenario where one of the control surfaces is assumed to be stuck at an unknownangle. The adaptive autopilot is also tested in physical flight experimentsunder degraded-nominal conditions, and the resulting performance improvement isexamined.

Experimental Flight Testing of a Fault-Tolerant Adaptive Autopilot for Fixed-Wing Aircraft