Keywords
Tethered UAV, Aerial monitoring, Regenerative braking, Quadrotor autogyro, Flight stability and control, Persistent aerial systems
Abstract
Tethered autogyros are promising platforms for persistent aerial surveillance because the tether enables long-duration deployment through mooring and bidirectional power transfer, while autorotating unpowered rotors use ambient wind to generate lift. This dissertation develops dynamic models and control strategies for a tethered quadrotor autogyro to evaluate its flight capability for aerial surveillance applications.
The study develops a hybrid modeling framework in which aerodynamic forces are represented in three dimensions while overall motion is restricted to the vertical plane. The model combines Lagrangian mechanics, Blade Element Momentum Theory, and catenary mechanics, and includes rotor-speed and blade flapping DoF. Numerical solutions of the equations of motion are used to investigate equilibrium characteristics, with results consistent with trends reported in the literature.
Using this hybrid model, a novel regenerative differential rotor braking method is investigated for pitch and altitude control. A two-loop feedback controller is developed, and closed-loop stability is analyzed. An adaptive control strategy is also developed to estimate the optimum operating point during flight using an equilibrium-based quadratic altitude–pitch relation, thereby enabling altitude regulation under varying wind conditions.
To capture the full flight dynamics, the hybrid model is then extended to a three-dimensional formulation that includes roll and yaw dynamics. This model is used to investigate attitude and altitude control through differential braking of alternate rotors, as well as switching from autorotative to powered flight during low-wind periods. Simulation results show that switching can maintain the desired altitude, supporting the feasibility of extended deployment under uncertain wind conditions.
Completion Date
2026
Semester
Spring
Committee Chair
Tuhin Das
Degree
Doctor of Philosophy (Ph.D.)
College
College of Engineering and Computer Science
Department
Mechanical and Aerospace Engineering
Format
Document Type
Dissertation
Identifier
DP0053223
Release Date
5-15-2027
STARS Citation
Noboni, Tasnia, "Dynamic Modeling of a Tethered Quadrotor Autogyro with Articulated Rotors and Control Using Differential Rotor Braking and Switched Flight Modes" (2026). Graduate Studies Theses and Dissertations 2026. 141.
https://stars.library.ucf.edu/gradstudies_etd_2026/141
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