Hybrid position-attitude control of DF-UAV based on generalized flight dynamics

For a ducted fan unmanned aerial vehicle (DF-UAV), the aerodynamic forces comprising the aerodynamic lift and drag as well as their induced angular moments are the real physical inputs dominating the flight state. These forces originate from the motions of the duct, propeller and control surfaces. Therefore, this study considered an integrated modeling of DF-UAV and proposed a layered design method for the hybrid position-attitude controller based on the reference feedback and dynamic decoupling.