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Meeting	ACGS Committee Meeting 111 - Reno, Nevada - March 2013
Agenda Location	7 SUBCOMMITTEE E – FLIGHT, PROPULSION, AND AUTONOMOUS VEHICLE CONTROL 7.1 Ducted Fan Unmanned Aerial Vehicles guidance, Navigation, and Control
Title	Ducted Fan Unmanned Aerial Vehicles guidance, Navigation, and Control
Presenter	Dale Enns
Affiliation	Honeywell
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	Ducted fan vehicles are vertical takeoff and land vehicles that have a fan rotating inside a duct that creates a thrust force. Moveable vanes in the prop wash of the fan at the exit of the duct are used to modify the flow to produce variable roll, pitch, and yaw moments. The engine throttle is used to change the spin rate of the fan to vary the thrust force. The control of ducted fan vehicles is similar to helicopters in that there are four control actuators for roll, pitch, yaw, and heave. The motion is sensed with GPS and barometric altimeter aided inertial navigation. The flights can be autonomous where the vehicle follows a pre-programmed trajectory or can be controlled manually by a ground operator without pilot training. This seminar will present some general control concepts used in the development of this unmanned vehicle including dynamic inversion and control allocation.