Submitted:
06 July 2026
Posted:
08 July 2026
You are already at the latest version
Abstract
Keywords:
1. Introduction
2. Related Work
2.1. Monocopters and Single-Wing Rotating Vehicles
2.2. Ducted-Fan Propulsion and Collision-Tolerant Design
2.3. Research Gap
3. Materials and Methods
3.1. Vehicle Configuration and Design Rationale

3.2. Reference Frames, States, and Generalized Coordinates

3.3. Attitude Kinematics
3.4. Energy Formulation and the Lagrangian
3.5. Translational Dynamics

3.6. Rotational Dynamics

3.7. Generalized Forces and Spin Equilibrium

3.8. Stability: The Oblate-Inertia Condition
3.9. Linear Model for Control
3.10. Flight-Control Software and Control Allocation
4. Results
4.1. Realized Airframe and Mass Distribution
4.2. Open- and Closed-Loop Dynamic Response of
4.3. Yaw-Rate Spin-Up and Hover Equilibrium
4.4. Unstable Transverse Response
4.5. Stable Transverse Response to a Gust
4.6. Indoor Flight Demonstration

5. Discussion

6. Conclusions
References
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| Axis | |||
|---|---|---|---|
| Roll | 120 | 65 | 45 |
| Pitch | 120 | 65 | 45 |
| Yaw | 80 | 50 | 30 |
| Fin servo | Roll | Pitch | Yaw |
|---|---|---|---|
| 1 | − | 0 | − |
| 2 | 0 | − | − |
| 3 | 0 | + | − |
| 4 | + | 0 | − |
| Symbol | Value | Description |
|---|---|---|
| I | transverse inertia (stand-in for ) | |
| b | aerodynamic damping | |
| fin control effectiveness | ||
| fin deflection limit |
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