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Small ducted fan autonomous vehicles have potential for several applications, especially for missions in urban environments. This paper discusses the use of dynamic inversion with neural network adaptation to provide an adaptive controller for the GTSpy, a small ducted fan autonomous vehicle based on the Micro Autonomous Systems' Helispy. This approach allows utilization of the entire low speed flight envelope with a relatively poorly understood vehicle. A simulator model is constructed from a force and moment analysis of the vehicle, allowing for a validation of the controller in preparation for flight testing. Data from flight testing of the system is provided.
Johnson et al. (Sat,) studied this question.