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This paper presents a Markov chain model to dynamically emulate the effectsof adverse (failure) flight conditions on fixed-wing, autonomous aircraftsystem actuators. It implements a PX4 Autopilot flight stack module thatperturbs the attitude control inputs to the plane's actuator mixer. We applythis approach in simulation on a fixed-wing autonomous aircraft to test thecontroller response to stochastic compound failures on a range of turningradii. Statistical measures of the differences between target and simulatedflight paths demonstrate that a well-tuned PID controller remains competitivewith adaptive control in a cascading, compound, transient failure regime.

A Stochastic Compound Failure Model for Testing Resilience of Autonomous Fixed-Wing Aircraft I: Formulation and Simulation