Flight Dynamics and Control of Rocket Assisted Quadrotor

After a high-speed flight, the immediate hovering is always challenging due to system inertia. This requires an accurate dynamic model and robust control design. In this paper, the flight dynamic model of a rocket-assisted quadrotor is developed. The flight control using the classical approach is designed to perform the required mission. The task is to launch from one particular location, fly as a rocket for a fixed time, and then follow the hovering command. The transition from rocket like vertical climb to quadrotor flight mode is facilitated by the coordinated action of the rotors of a quadcopter. Achieving the smooth shift between these flight regimes depends on many key parameters such as velocity, rotor thrust, and overall system power. The transition is generally influenced by parameters such as a distance covered and duration of a flight. Simulation results indicated that with the proposed flight controller, vehicle is able to decelerate appropriately and maintain stable hovering at the designated altitude. The flight simulation framework also demonstrated potential for guiding the development and evaluation of a small-scale prototype.