Design of a adaptive decoupling control law of miniature duct fan UAV

An adaptive decoupling control method for a miniature ducted-fan UAV is studied in this article. In order to make the UAV's outputs steadily follow established reference model in the condition of parameter perturbation and uncertain disturbance, an adaptive control method is designed based on the Model Reference Adaptive Control, which is built in order to control one of the fast state variables, the UAV's angular speed. In the meantime, a cascade feed forward decoupling control is designed for the known reference model, to make the fast state variable decouple synchronously along with the reference model, and then control the UAV's attitude and angular velocity. Simulation results show that the control law makes the UAV's attitude outputs steadily follow outputs of the reference model, the coupling interaction between control channels is eliminated, and the controller is not sensitive to parameter perturbation. The control system is strongly adaptive and robust.