Modeling and Control of JetQuad Aerial Robot

The payload of the electric aerial robot is always not very large which leads to limited usage scenarios, so the research of jet aerial robots has become popular recently. This paper proposes a dynamic modeling and linearization method for a class of JetQuad aerial robots with rotatable vectoring nozzles. Meanwhile, a thrust vector control method is proposed. By transforming the control allocation problem into a nonlinear multi-objective optimization problem, the design control law can adapt to the dynamic response characteristics of the jet thrust and the vector mechanism. Taking JetQuad designed by US company FusionFlight as an example, simulation verification is performed in two scenarios of square trajectory tracking and circular trajectory tracking, which proves the effectiveness of the proposed thrust vector control method.