Re: [Paparazzi-devel] whether plan use backstepping to replace PID.

[Christophe De Wagter]

It would be great to see more advanced controllers being tested.

Paparazzi is ideal for this as you can make your own controller in a new subsystem without the need to change anything else:

See for instance the 4 added files:

*subsystem makefile: (tells which files to compile and which arguments to use)

https://github.com/paparazzi/paparazzi/blob/master/conf/firmwares/subsystems/fixedwing/control_energy.makefile

*code itself

https://github.com/paparazzi/paparazzi/blob/v4.2/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c and h

*settings file to change parameters inflight

https://github.com/paparazzi/paparazzi/blob/v4.2/conf/settings/control/ctl_energy.xml

-Christophe 

On Mon, Mar 11, 2013 at 3:55 AM, hu zhangli <address@hidden> wrote:

at present i am researching about adaptive control .

anybody could supply some useful material. thanks

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