Design and Modeling of a Scaled Drone Prototype for Validation of Reusable Rocket Control Strategies

This paper presents the development, modeling, and validation of a scaled UAV-VTOL low-cost prototype equipped with a jet propulsion system with vertical take-off and landing capabilities. The prototype is designed as an experimental testbed for reusable rocket control strategies, with a particular focus on thrust vectoring and landing stabilization. The study begins with the evolution of the CAD, followed by a guide for the correct assembly of the device. The development of the electronic system included the integration of an ARM Cortex-M7 microcontroller, inertial sensors, and a LIDAR-based altitude measurement system; this was enhanced by a Kalman estimator to mitigate the sensor’s noise. A series of experimental tests were conducted to characterize the key subsystems. Actuator characterization improved the linearized nozzle control model, ensuring predictable thrust redirection. The test bench results confirmed the EDF’s thrust curve and its ability to sustain controlled flight, despite minor losses due to battery discharge variations. Furthermore, state-space modeling aided the development of controllers for altitude stabilization and attitude control, with simulations proving the feasibility of maintaining stable flight conditions. Experimental validation confirmed that the prototype provides a practical platform for future research in reusable rocket dynamics and autonomous landing algorithms.