Dynamic Modeling and LQR Control of a Single Coaxial Drone with 2DOF Thrust Vectoring Mechanism

Abstract:Coaxial rotor drones have generated considerable interest because of energy efficiency and small size, but they are afflicted with inherent underactuation for roll and pitch control, although systems like swashplates have circumvented this limitation at the cost of greater mechanical complexity. This work presents a novel coaxial drone supplemented by a two-degreesof-freedom pendulum mechanism for active thrust vectoring that offers a less mechanically complicated alternative. We develop a comprehensive Lagrangian dynamic model that does not ignore the inertial contributions of all the components, including body, servo arms, and motor assembly. A Linear Quadratic Regulator(LQR) is designed based on the linearized dynamics around the hover equilibrium. High-fidelity simulations taking actuator dynamics and sensor noise into account validate the proposed architecture. An Extended Kalman Filter (EKF) blends GPS, barometer, and IMU estimates with high accuracy for state estimation. The findings verify the potential and reliability of this approach for power-saving, rapid coaxial UAVs.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2609.21099 [cs.RO]

(or arXiv:2609.21099v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.21099 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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