Aerodynamic structural design and control for a new miniature coaxial dual-rotor unmanned aerial vehicle

This article mainly introduces a design and control method for a new type of portable coaxial dual-rotor unmanned aerial vehicle. The coaxial dual-rotor unmanned aerial vehicle prototype is constructed using three-dimensional computer-aided design software, and its aerodynamic characteristics are analyzed via computational fluid dynamics. A 6-degree-of-freedom nonlinear dynamic model of the coaxial dual-rotor unmanned aerial vehicle is derived by considering the characteristics of coaxial rotors and the downwash airflow. A proportional–integral–derivative tracking scheme including an inner-loop attitude controller and an outer-loop position controller is developed to track the target position and attitude, respectively. Finally, numerical simulations and actual experimental tests are employed to demonstrate the validity of the developed coaxial dual-rotor unmanned aerial vehicle system.