Comprehensive nonlinear modeling and attitude control of a novel tandem ducted fan vehicle

The purpose of this paper is to introduce a complex nonlinear model to a novel tandem ducted fan vehicle which adopted a structure of coaxial rotor and cyclic pitch system, considering aerodynamic coupling, disturbing between the upper and the lower rotor, and special aerodynamic characteristics of duct. On this basis, a robust hover control system has been designed to attitude control using H-infinite static output feedback theory. The results illustrate that the system has good decoupling performance and reveals great ability of attitude tracking as well as disturbance restraint.