This thesis introduces a unique thrust vector coaxial unmanned aerial vehicle (UAV) configuration and presents a comprehensive investigation encompassing dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation of the hardware through flight tests. The initial thrust model is enhanced by two methods, incorporating correction factors derived from a regression line, and employing the system identification method based on the test stand data. Implementation of the linear state feedback controller effectively maintains attitude authority over a non-linear simulation of the vehicle. The limits of the controller are explored, and simulation highlights that the controller's authority fails if the operating states deviate from the linearized region of attraction. Beyond the specific thrust vector coaxial UAV configuration, this research holds implications for enhancing UAV dynamics modeling, analysis, and control in broader applications.
","abstract_html":"<p>This thesis introduces a unique thrust vector coaxial unmanned aerial vehicle (UAV) configuration and presents a comprehensive investigation encompassing dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation of the hardware through flight tests. The initial thrust model is enhanced by two methods, incorporating correction factors derived from a regression line, and employing the system identification method based on the test stand data. Implementation of the linear state feedback controller effectively maintains attitude authority over a non-linear simulation of the vehicle. The limits of the controller are explored, and simulation highlights that the controller's authority fails if the operating states deviate from the linearized region of attraction. Beyond the specific thrust vector coaxial UAV configuration, this research holds implications for enhancing UAV dynamics modeling, analysis, and control in broader applications.</p>","abstract_has_math":false,"creators":["North, Andrew"],"institution":null,"degree_name":"Master of Science in Mechanical Engineering","degree_level":"Thesis - Open Access","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2023,"date_issued":"2023-07-01T07:00:00Z","date_published":"2023-07-01T07:00:00Z","updated_at":"2026-07-27T19:25:52Z","subjects":["State-Space Feedback Control","Dynamics Modeling","Coaxial Unmanned Aerial Vehicle","System Identification","Hardware Testing","3D Printing","Disturbance rejection","Acoustics, Dynamics, and Controls","Aeronautical Vehicles","Computer-Aided Engineering and Design","Manufacturing"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://commons.erau.edu/edt/764","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:creator","label":"Author","values":["North, Andrew"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis - Open Access"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science in Mechanical Engineering"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["State-Space Feedback Control","Dynamics Modeling","Coaxial Unmanned Aerial Vehicle","System Identification","Hardware Testing","3D Printing","Disturbance rejection","Acoustics, Dynamics, and Controls","Aeronautical Vehicles","Computer-Aided Engineering and Design","Manufacturing"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://commons.erau.edu/edt/764"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis introduces a unique thrust vector coaxial unmanned aerial vehicle (UAV) configuration and presents a comprehensive investigation encompassing dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation of the hardware through flight tests. The initial thrust model is enhanced by two methods, incorporating correction factors derived from a regression line, and employing the system identification method based on the test stand data. Implementation of the linear state feedback controller effectively maintains attitude authority over a non-linear simulation of the vehicle. The limits of the controller are explored, and simulation highlights that the controller's authority fails if the operating states deviate from the linearized region of attraction. Beyond the specific thrust vector coaxial UAV configuration, this research holds implications for enhancing UAV dynamics modeling, analysis, and control in broader applications.
"]},{"key":"dc:title","label":"Title","values":["Modeling, Control, and Hardware Development of a Thrust-Vector Coaxial UAV"]}]}],"canonical_facts":{"dc:creator":["North, Andrew"],"dc:description.abstract":["This thesis introduces a unique thrust vector coaxial unmanned aerial vehicle (UAV) configuration and presents a comprehensive investigation encompassing dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation of the hardware through flight tests. The initial thrust model is enhanced by two methods, incorporating correction factors derived from a regression line, and employing the system identification method based on the test stand data. Implementation of the linear state feedback controller effectively maintains attitude authority over a non-linear simulation of the vehicle. The limits of the controller are explored, and simulation highlights that the controller's authority fails if the operating states deviate from the linearized region of attraction. Beyond the specific thrust vector coaxial UAV configuration, this research holds implications for enhancing UAV dynamics modeling, analysis, and control in broader applications.
"],"dc:identifier":["https://commons.erau.edu/edt/764"],"dc:subject":["State-Space Feedback Control","Dynamics Modeling","Coaxial Unmanned Aerial Vehicle","System Identification","Hardware Testing","3D Printing","Disturbance rejection","Acoustics, Dynamics, and Controls","Aeronautical Vehicles","Computer-Aided Engineering and Design","Manufacturing"],"dc:title":["Modeling, Control, and Hardware Development of a Thrust-Vector Coaxial UAV"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Thesis - Open Access"],"thesis:degree_name":["Master of Science in Mechanical Engineering"]},"updated_at":"2026-07-27T19:25:52Z"}