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Dynamic Modeling and LQR Control of a Single Coaxial Drone with 2DOF Thrust Vectoring Mechanism

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Coaxial rotor drones have generated considerable interest because of energy efficiency and small size, but they are afflicted with inherent underactuation for roll and pitch control, although systems like swashplates have circumvented this limitation at the cost of greater mechanical complexity. This work presents a novel coaxial drone supplemented by a two-degreesof-freedom pendulum mechanism for active thrust vectoring that offers a less mechanically complicated alternative. We develop a comprehensive Lagrangian dynamic model that does not ignore the inertial contributions of all the compone

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