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This paper modifies an adaptive multicopter autopilot to mitigateinstabilities caused by adaptive parameter drift and presents simulation andexperimental results to validate the modified autopilot. The modified adaptivecontroller is obtained by including a static nonlinearity in the adaptive loop,updated by the retrospective cost adaptive control algorithm. It is shown insimulation and physical test experiments that the adaptive autopilot withproposed modifications can continually improve the fixed-gain autopilot as wellas prevent the drift of the adaptive parameters, thus improving the robustnessof the adaptive autopilot.

Experimental Flight Testing of an Adaptive Autopilot with Parameter Drift Mitigation