Ternary Correlation Adaptive Tuning for Virtual Autopilot Commands

What is it about?

Virtual commands are utilized to fulfill the interaction between the virtual pilot and the mode control panel when autopilot. A ternary correlation PID (TC-PID) tuning method is proposed to construct a dependent and constrained relationship between PID parameters using historical errors for computing virtual heading commands. Firstly, adaptive PID parameters are calculated using historical errors. Secondly, ternary correlations are established by correlation coefficients among PID parameters and a numerical normal copula function. Finally, heading control values are synthetically computed according to the updated PID parameters. Simulations demonstrate the advance of the method. In conclusion, the TC-PID method can establish the ternary correlations for PID parameters to synthesize virtual commands and model the virtual pilot’s heading adjustment behaviors for autopilot.

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