Controller Design for a Ducted Fan MAV Using Dynamic Inversion Method in Lateral Motion

Today, Ducted Fan micro aerial vehicle much attention in the field of business and research due to the duct and, thus, the ability to be safe in enclosed environments. In order to identify and practical help to control and implement the vehicle in various maneuvers, the experimental example of this VTOL MAV was built by of Amirkabir University of Technology. In this research, in the first step, the modeling of the ducted fan is considered. In this way, after obtaining the dynamic model of the fan, the parameters in this model are calculated, using empirical methods. In this regard, the aerodynamic coefficients of the control levels and the inertia of the fan can be mentioned. In the second step, the controller design of the ducted fan is discussed. -Fan MAV control is one of the important issues in designing this fan due to inherent instability. The study of vehicle that reported shows that nonlinear dynamic inversion is an appropriate choice among control methods due to its successful empirical implementation on . Thus, by choosing this method, the control system was designed to follow the desired command of the vehicle in the Simulink simulation environment. In this process, the position command is first applied to the fan and converted by the controller to the command of state control actuators, after which these commands by changing the angles of the control levels of the fan lead to the change in the angles of the fan’s side, the pitch, and and, thus, achieved a desired position. The results indicated that the desired command was correctly followed; also, the stability of the closed loop system was successfully accomplished by using dynamic inversion method for the Ducted Fan MAV.