A comparison has been made between four control strategies for a mini ducted rotary UAV (RUAV). The design and the manufacturing of this ducted RUAV will be explained and presented. The maximum dimension of this UAV is 700 mm and its mass reaches about 10 kg in its final version. The control strategies have been applied to a split control process of the RUAV : a first one for the altitude and the yaw control of the vehicle and a second one for the attitude and the horizontal position of the vehicle. The four control strategies that have been examined and compared are: (1) PID (Proportional Integral Derivative) and LQR (Linear-Quadratic Regulation); (2) PID and cascade saturations; (3) Backstepping; and (4) Backstepping with integration.


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