Modeling and analysis of a reduced-complexity ducted MAV

In this paper we present preliminary results about the development of a ducted-fan micro aerial vehicle (MAV), of reduced mechanical complexity, capable of stationary flight. Force and torque generation mechanisms are investigated and a nonlinear model for control purpose is derived. A preliminary study of the zero dynamics of the model is derived and its asymptotic properties are investigated in relation to the values of some physical parameters. Finally a simple linear optimal control is designed on the linear approximation of the model