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.007a.svgz" name="135489.fig.007a" 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.007b.svgz" name="135489.fig.007b" 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.007c.svgz" name="135489.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Parameter learning process for <svg height="14.6294pt" id="M146" style="vertical-align:-5.34107pt" version="1.1" viewbox="-0.0498162 -9.28833 15.9414 14.6294" width="15.9414pt" xmlns="http://www.w3.org/2000/svg" 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375 118 375C127 375 129 374 121 336C97 225 67 111 32 -6L42 -12C66 -5 95 2 122 6L160 166C192 225 325 384 381 384C403 384 405 375 390 295C371 194 348 91 323 -6L327 -12C347 -6 379 3 407 6C417 61 432 125 445 170C479 232 607 384 659 384C679 384 690 370 677 322L616 88C600 26 608 -12 640 -12C667 -12 736 23 798 93Z" id="g176-110"></path><glyph.data ascent="3439" descent="-2858" horiz-adv-x="823" vert-adv-y="823"></glyph.data></g></svg></td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/135489/figures/135489.fig.007d.svgz" name="135489.fig.007d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Parameter learning process for <svg height="11.9218pt" id="M149" 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 transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 0V35C659 41 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<div>Flight test results of the existing adaptive controller in [<a href="/journals/mpe/2015/135489/#B27">27</a>].</div>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Indirect Adaptive Attitude Control for a Ducted Fan Vertical Takeoff and Landing Microaerial Vehicle 