QuadRocket: An Aerial Robotic Testbed for Adaptive Thrust-Vector Control of Rocket-Like Vehicles

• URL: http://arxiv.org/abs/2607.02474v1
• Date: Thu, 02 Jul 2026 17:43:09 GMT
• Title: QuadRocket: An Aerial Robotic Testbed for Adaptive Thrust-Vector Control of Rocket-Like Vehicles
• Abstract summary: QuadRocket is a low-cost, low-risk platform for validating thrust-vector control strategies for launch vehicle-type systems.<n>Prototype consists of a cylindrical main body mounted on top of a quadrotor through a universal joint, forming a flying inverted pendulum with non-negligible inertia.<n>Control design is modeled as a single axisymmetric rigid body actuated by a vectored force applied along its longitudinal axis.
• Score: 0.8633013637160062
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents QuadRocket, a quadrotor-based rocket prototype that provides a low-cost, low-risk platform for validating advanced thrust-vector control strategies for launch vehicle-type systems. The prototype consists of a cylindrical main body mounted on top of a quadrotor through a universal joint, forming a flying inverted pendulum with non-negligible inertia. For control design, the coupled system is modeled as a single axisymmetric rigid body actuated by a vectored force applied along its longitudinal axis. A reduced-attitude representation on the two sphere is adopted to explicitly exploit the vehicle's axial symmetry and to decouple yaw from the thrust-vector direction. On this model, we derive an adaptive backstepping controller that achieves almost global trajectory tracking in the presence of unknown constant disturbances, while a control-point transformation mitigates non minimum-phase behavior. The quadrotor is then treated as a thrust vector actuator, and a dynamic-surface-based attitude controller is designed to track the desired thrust-vector, accounting for actuation dynamics and avoiding explicit differentiation of virtual control signals. The complete architecture is evaluated in simulation and validated experimentally in an indoor motion-capture arena. Results demonstrate accurate trajectory tracking, effective disturbance compensation, and confirm the suitability of the QuadRocket as a versatile testbed for thrust-vector-controlled robotic vehicles.

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