Modeling, control and flight testing for a saucer ducted fan UAV

This paper mainly focuses on the dynamic analysis and control system design of the small saucer ducted fan unmanned vehicle. The dynamic of the UAV is analyzed first in this paper and a simulation model is constructed from the forces and moments analysis of the vehicle in the flight node of hovering. After that a robust controller based on H2 H∞ is designed to handle the attitude control problem, and then the simulation results are presented. Finally, the flight testing was completed.