Meysam Rahimi - Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
Amir Abolfazl Suratgar - Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
Firooz Bakhtiari Nejad - Department of Mechanical Engineering Amirkabir University of Technology Tehran, Iran

Unmanned Aerial Vehicles (UAVs) are of great interest among mobile robots. Recently, a lot of researches aimed at promoting the technology of such robots, especially abilities of them in different applications like discovering missions, search and rescue, surveillance, academic researches, etc. The main focus of this paper is on a specific class of the UAVs, in which a fuzzy adaptive controller is developed to control a ducted fan. VTOL vehicles, blimps, rockets, hydroplanes, ships and submarines are generally underactuated which makes the control stage sever and requires more complex controllers. Herein, a fuzzy controller is employed to overcome this problem. Moreover, the design procedure for controller of a ducted VTOL mobile robot is presented.

Ducted Fan UAV; Fuzzy controller; Dynamic Model