Attitude Dynamics and Agile Control of a High-Mass-Ratio Moving-Mass Coaxial Dual-Rotor UAV
Year: 2025
Type: article
Abstract: This study presents the configuration design and attitude control of a moving-mass coaxial dual-rotor UAV (MMCDRUAV) for indoor applications. Compared with existing configurations, the proposed configuration avoids additional actuation mass and improves the control authority. Based on these improvements, a promising micro UAV platform with a high payload ability for agile indoor flight could be developed. Ground validation tests demonstrated its maneuverability, as provided by a moving-mass control (MMC) module requiring only the repositioning of existing components (e.g., battery packs) as movable masses. For trajectory tracking, an adaptive backstepping active disturbance rejection controller (ADRC) is proposed. The architecture integrates extended-state observers (ESOs) for disturbance estimation, parameter-adaptation laws for uncertainty compensation, and auxiliary systems to address control saturation. Lyapunov stability analysis proved the existence of uniformly ultimately bounded (UUB) closed-loop tracking errors. The results of the ground verification experiment confirmed enhanced tracking performance under real-world disturbances.
Source: Drones
Authors: Jiahui Sun, Qingfeng Du, Ke Zhang
Institutions: City University of Hong Kong, Harbin Institute of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4413701191