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Hovering and Forward Flight Control of a Ducted Fan Unmanned Aerial Vehicle Based on PID Control

Mohammad Saleh Ahmadi, Afshin Manouchehri
In this paper, the problem of hovering and forward flight control of a ducted fan Unmanned Aerial Vehicle (UAV) is addressed. For this purpose, a short review of the mechanical characteristics of the vehicle and also its mathematical model is presented. After that a two loop PID controller is constructed for both hovering and forward flight conditions. At the end, Numerical simulations are used to illustrate the performance of the developed controllers in certain and uncertain conditions.
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