%0 Journal Article
%T System identification and robust stabilization using structured controller for a novel ducted fan flying robot
%A Bin Xu
%A Changle Xiang
%A Wei Fan
%A Xiaoliang Wang
%J Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
%@ 2041-3025
%D 2019
%R 10.1177/0954410017728970
%X This paper proposes complete procedures for system identification and control of a novel ducted fan flying robot on near hover flight condition. A control-oriented model structure is derived from a comprehensive mechanism model and identified by ground tests and flight experiments. In order to achieve state decoupling and reference tracking, a two-loop control architecture is employed. Non-smooth optimization algorithm is applied to efficiently tune controller parameters against multiple control requirements. Experimental results show that designed structured controller can provide better performance than classical proportional -integral -derivative (PID) controller
%K Ducted fan
%K system identification
%K non-smooth optimization
%K structured controllers
%U https://journals.sagepub.com/doi/full/10.1177/0954410017728970