Model Reference Adaptive Gain-Scheduled PID control for Robust Heading Stabilization in UAS under Wind Disturbances

<div class="section abstract"><div class="htmlview paragraph">Unmanned Aircraft Systems (UAS) are increasingly deployed in diverse missions, and maintaining heading stability in the presence of unpredictable wind disturbance is a significant challenge. This paper proposes a novel model reference adaptive gain-scheduled PID (Proportional-Integral-Derivative) control framework tailored for the heading control of flapping-wing UAS (ornithopter) operating under dynamic wind conditions. T