RobustD-Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle

Abstract

This paper deals with the aerodynamic modeling of a small ducted fan UAV and the problem of attitude stabilization when the parameter of the vehicle is varied. The main aerodynamic model of the hovering flight UAV is first presented. Then, an attitude control is designed from a linearization of the dynamic model around the hovering flight, which is based on theH∞output feedback control theory withD-stability. Simulation results show that such method has good robustness to the attitude system. They can meet the requirements of attitude control and verify further the feasibility of such a control strategy.