Hovering control of a ducted fan VTOL Unmanned Aerial Vehicle (UAV) based on PID control

In the present research, the problem of controlling a ducted fan Unmanned Aerial Vehicle (UAV) for hovering flights is addressed. For this purpose, a short review of the mechanical characteristics of the vehicle and also its mathematical model is presented. Numerical simulations are used to illustrate the performance of the developed controllers in certain and uncertain conditions.