Attitude control of ducted fan UAV with three auxiliary rotor

In this paper, a self-tuning fuzzy controller for ducted fan UAV is proposed to improve the attitude control accuracy and stability of ducted fan UAV. The structure of the ducted fan UAV with three auxiliary rotor is introduced and the attitude adjust motion is analyzed. A self-tuning fuzzy controller of the UAV is designed according to the dynamic characteristics of the UAV. For the attitude adjustment range of the UAV is larger and the fuzzy controller's discourse domain is fixed, a self-tuning mechanism for tuning the input and output scaling factors is designed to improve the steady-state accuracy. The self-tuning fuzzy control method is applied to control of UAV's yaw, roll and pitch. And the control effect is verified by the target following test and disturbance test. The test results show that the control method is correct and effective; The controller has a good disturbance rejection performance.