Modelling and Control of Thrust Vectoring Mono-copter

Student thesis: Master thesis (including HD thesis)

  • Emil Bjerregaard Jacobsen
4. term, Control and Automation, Master (Master Programme)
In recent years, private companies have embraced the space industry to pursue the immense economic potential of space. The private industry has skyrocketed the development of reusable rockets to increase profit and make space economically viable. The sudden growth has raised the demand for new employees with hands-on experience. However, reusable rockets and space technology is out of reach of most scientific institutes, as no educational platform is readily available. This project investigates the concept of mono-copters as a practical way to mimic reusable rockets' behaviour in a safe environment. A custom hardware platform is developed to accomplish this, and a model-based control strategy using LQR is proposed to stabilise the mono-copter. This requires measurements that are not available, for which an optimal estimator is implemented; the Kalman filter. In conclusion the proposed control strategy is able to stabilise the system, enabling the mono-copter to perform vertical take-off, hovering and landings, much like a reusable rocket.
LanguageEnglish
Publication date2021
ID: 413527183