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Mathematical Problems in Engineering
Volume 2015, Article ID 135489, 11 pages
http://dx.doi.org/10.1155/2015/135489
Research Article

Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle

1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 YuDao Street, Nanjing 210016, China
2Laboratory of Science and Technology on Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, 29 YuDao Street, Nanjing 210016, China

Received 22 March 2015; Revised 15 June 2015; Accepted 15 June 2015

Academic Editor: Victor Sreeram

Copyright © 2015 Shouzhao Sheng 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.

Abstract

The present paper addresses an attitude tracking control problem of a ducted fan microaerial vehicle. The proposed indirect adaptive controller can greatly reduce tracking error in the initial stage of the adaptive learning process by using an error compensation strategy and can achieve good capability to eliminate the adverse effect of measurement noises on the convergence of adjustable parameters. Moreover, the learning rate adaptation strategy is proposed to further minimize the adverse effect of large learning rates on the convergence of adjustable parameters. The experimental tests have illustrated the effectiveness of the proposed adaptive controller.