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Dynamic Modeling and Control of a Coaxial drone with 2-DOF Pendulum Mechanism

Jokar, Ali | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58442 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasty, Aria
  7. Abstract:
  8. Coaxial drones, characterized by their dual-rotor configuration, provide high energy efficiency but face significant challenges in attitude control for roll and pitch angles, restricting their widespread operational use. While previous research has focused on complex control surfaces or mechanisms, this study proposes an innovative mechanical and control solution to develop a highly efficient and maneuverable coaxial drone. This research details the design and modeling of a coaxial drone equipped with a two-degree-of-freedom pendulum mechanism, enabling necessary control torques by rotating the entire propulsion unit. Precise dynamic equations were derived using Newton-Euler and Lagrangian methods, fully accounting for motor masses and moving arms. Model accuracy was validated through MATLAB simulations against a Simscape physical model. The system was linearized around its hover equilibrium, and a Linear Quadratic Regulator (LQR) and a Model Reference Adaptive Controller (MRAC) were designed for stabilization and path tracking. To simulate real-world conditions, sensor models (GPS, barometer, IMU) with Gaussian noise were incorporated, and an Extended Kalman Filter was used for state estimation and data fusion. Finally, a sensitivity analysis assessed the impact of uncertainties, such as servo angle errors and center-of-mass displacement, on system stability. The findings demonstrate that integrating a simple pendulum mechanism offers a practical and efficient solution to the attitude control challenges of coaxial drones. This approach successfully maintains their inherent energy efficiency while enabling high maneuverability and precise control. The comprehensive modeling, optimized controllers, and detailed analyses in this study provide the essential tools for developing and controlling such drones, paving the way for future operational prototypes and real-world deployment.
  9. Keywords:
  10. Servomotors ; Advanced Control Techniques ; Optimal Control ; Pendulum Model ; Coaxial Drone ; Two Degrees of Freedom System ; Dynamic Modeling

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