Modelling and control of a miniature ducted-fan in fast forward flight

In this paper we present both the modelling and preliminary control results relative to a configuration of ducted-fan MAV (miniature aerial vehicle) which is characterized by a mechanical and aerodynamical structure designed in order to allow efficient forward flights at small values of the angle of attack. Thanks to these modifications the system is able to accomplish both stationary and fast forward flight by means of a transition between two different operative configurations. After deriving a nonlinear model capable to describe the system dynamics in a general flight envelope, which include slow flights, fast forward flights at low values of angle of attack and the transition between the two previous conditions, we concentrate on the fast forward flight presenting preliminary control results.