Nonlinear Robust Control of a Reduced-Complexity Ducted MAV for Trajectory Tracking

In this paper we address the problem of controlling the vertical, lateral, longitudinal and yaw attitude motion of a nonlinear model of ducted-fan micro aerial vehicle (MAV) which has been designed in order to reduce the mechanical complexity. References are assumed to be arbitrary signals with only some limitations in the higher order time derivatives imposed by functional controllability and actuator constraints. The proposed nonlinear control law succeeds in enforcing the desired trajectories robustly with respect to uncertainties characterizing the physical parameters of the ducted-fan MAV