Date of Award

Summer 2023

Access Type

Thesis - Open Access

Degree Name

Master of Science in Mechanical Engineering


Mechanical Engineering

Committee Chair

Christopher Hockley

First Committee Member

Brian Butka

Second Committee Member

Monica Garcia

College Dean

Jim Gregory


This thesis introduces a unique thrust vector coaxial unmanned aerial vehicle (UAV) configuration and presents a comprehensive investigation encompassing dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation of the hardware through flight tests. The initial thrust model is enhanced by two methods, incorporating correction factors derived from a regression line, and employing the system identification method based on the test stand data. Implementation of the linear state feedback controller effectively maintains attitude authority over a non-linear simulation of the vehicle. The limits of the controller are explored, and simulation highlights that the controller's authority fails if the operating states deviate from the linearized region of attraction. Beyond the specific thrust vector coaxial UAV configuration, this research holds implications for enhancing UAV dynamics modeling, analysis, and control in broader applications.