Model-Free Online Motion Adaptation for Energy-Efficient Flight of Multicopters with Adaptive Multivariable Extreme Seeking Controller

Introduction

This repository contains the example code for adaptive multivariable extreme seeking controller that we exploit to seek for optimal speed or sideslip to maximize either endurance or range.

Getting Started

Both python2 and python3 are allowed to run the example code without no additional dependency other than numpy and matplotlib.

Test

Run python adaptive_multivariable_extreme_seeking_controller/extreme_seeking_control_test.py.

Important Notes

The cost_function() is assumed to be known in this simulation code. In fact, this function is assumed to be unknown based on model-free setup in this paper. Readers shall also be aware that this function is never explicit used in the simulation code.

References

If you find this project useful in your work, please consider citing following paper: "Model-Free Online Motion Adaptation for Energy-Efficient Flight of Multicopters." [IEEE][arXiv]

@article{wu2022modelfree,
    author={Wu, Xiangyu and Zeng, Jun and Tagliabue, Andrea and Mueller, Mark W.},
    journal={IEEE Access}, 
    title={Model-Free Online Motion Adaptation for Energy-Efficient Flight of Multicopters}, 
    year={2022},
    volume={10},
    number={},
    pages={65507-65519},
}