Modeling, Analysis and Implementation of a Thrust Vectoring Bi- Rotor with Active Oblate Tilting

The modeling, design and implementation of a thrust-vectoring bi-rotor with active oblate tilting is described. The equations of motion for such vehicle are formulated, and later employed in a modular model-based design framework. Modeling of the vehicle enables the analysis of several design parameters, as well as for synthesis of stability and autonomous control law for the vehicle. System identification of existing hardware is performed, including motor and servo dynamics, enabling for a simulation with an acceptable level of fidelity by providing realistic dynamics, forces and moments associated with the vehicle. An open source simulator is employed to visualize the dynamics of flight of the bi-rotor in real time, through pilot in the loop interactions. Finally, insights from the model-based design are employed in a customized physical test-bed. The design decision enables a foundation for the study of challenges associated with a vertical mobility system capable of carrying the weight of a person.