Modeling and hovering control of an ducted-fan UAVin low speed crosswind

摘要

National University of Defense Technology has begun a research program to investigate and test ducted-fan propeller architecture for UAV designing. Development of a prototype continues to support ongoing research in the area of autonomous systems. In this paper, we build a nonlinear dynamic model of Ducted-Fan UAV for verifying appropriate controller behavior, and design a hierarchical controller for hovering flight of the UAV.