Thrust -Reversing UAV Concept: Attitude and Thrust Control

A unique, small-scale UAV capable of Vertical Take-Off and Landing (VTOL) is described. Although this vehicle is capable of efficient forward flight, this paper focuses on aerodynamic modeling, flight dynamics modeling, and attitude control design for the vertical take-off and hover mode of flight. In particular, low Reynolds number aerodynamic models are developed and validated for the intermeshing twin rotors, providing models for the design of rotor speed control and vehicle attitude control. Feedback control using miniature rate gyros is evaluated in simulation and on a test stand with a full scale prototype of the vehicle propulsion and control subsystems.