Controller design and experiment of the ducted-fan flying robot

Abstract

The ducted fan unmanned air vehicle (UAV) is a vertical take-off and landing flying robot. The dynamics model is built in this work. An attitude controller is designed based on the robust servomechanism linear quadratic regulator. Sweeping the penalty function weight coefficient provides an optimized controller. Simulation results show that the closed system performs excellently in terms of the time and frequency domain. An open-source hardware is utilized to realize the controller design. Flight experiments depicts that the attitude control satisfies the demand and has an excellent performance.