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.006a.svgz" name="135489.fig.006a" 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.006b.svgz" name="135489.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Tracking error</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/135489/figures/135489.fig.006c.svgz" name="135489.fig.006c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Parameter learning process for <svg height="11.3248pt" id="M138" style="vertical-align:-5.36389pt" version="1.1" viewbox="-0.0498162 -5.96091 17.596 11.3248" width="17.596pt" xmlns="http://www.w3.org/2000/svg" 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<div>Flight test results without error compensation.</div>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle 