抄録
Recently R/C helicopter are used in fields of aerial photography and aerial investigation for natural disasters. But helicopter rotor blade is not covered, and the thrust is generated by very high rotational speed. So R/C helicopter has a high risk. In this study, we develop the new flying object that using ducted fans instead of rotor blades. In the experiment, we succeeded to achieve stable hovering by 3-axis (roll, pitch and yaw axis) attitude control. But pitch and roll axis caused steady state error, so we are looking for way of solving. For example, use to PI-D control to eliminate these steady state error.
