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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/135489/figures/135489.fig.004a.svgz" name="135489.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Pitch angle</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/135489/figures/135489.fig.004b.svgz" name="135489.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Tracking error with noise</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/135489/figures/135489.fig.004c.svgz" name="135489.fig.004c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>The noise-free tracking error (<svg height="10.3089pt" id="M131" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -10.1025 11.5809 10.3089" width="11.5809pt" 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id="g50-110"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="805" vert-adv-y="805"></glyph.data></g><g transform="matrix(.0065,0,0,-0.0065,12.272,5.233)"><path d="M245 635C92 635 37 457 37 312C37 148 92 -12 244 -12C395 -12 449 165 449 312C449 469 394 635 245 635ZM243 598C332 598 358 454 358 312C358 172 334 26 245 26C158 26 128 174 128 313S151 598 243 598Z" id="g58-46"></path><glyph.data ascent="1007" descent="-369" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg></td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/135489/figures/135489.fig.004e.svgz" name="135489.fig.004e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>Parameter learning process for <svg height="11.9218pt" id="M135" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -8.7403 15.352 11.9218" width="15.352pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g 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Mathematical Problems in Engineering

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Figure 4

Figure 4: Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle 