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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 746379, 10 pages
Research Article

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

Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin 150001, China

Received 14 February 2014; Accepted 17 March 2014; Published 22 April 2014

Academic Editor: Weichao Sun

Copyright © 2014 Xiao-lu Ren et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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 the output feedback control theory with D-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.