Abstract
As part of DARPA’s Symbiotic Design for Cyber Physical Systems program, software tools were developed for a UAV and air taxi eVTOL design challenge. These included the development of a corpus of parts, an assembly technique, and then a 6-degree-of-freedom flight dynamics model with an autopilot based on trim states and a linear quadratic regulator to fly the assembled air vehicle. This paper describes the flight dynamics model and autopilot and controls in some detail. It also presents examples of parts, designs and performance.
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