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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.06535 |
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| _version_ | 1866911703870996480 |
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| author | Santos, Pedro Fonte, André Martins, Pedro Oliveira, Paulo |
| author_facet | Santos, Pedro Fonte, André Martins, Pedro Oliveira, Paulo |
| contents | This paper presents the E-Rocket, an electric-powered, low-cost rocket prototype for validation of Guidance, Navigation & Control (GNC) algorithms based on Thrust Vector Control (TVC). Relying on commercially available components and 3D printed parts, a pair of contra-rotating DC brushless motors is assembled on a servo-actuated gimbal mechanism that provides thrust vectoring capability. A custom avionics hardware and software stack is developed considering a dual computer setup which leverages the capabilities of the PX4 autopilot and the modularity of ROS 2 to accommodate for tailored GNC algorithms. The platform is validated in an indoor motion-capture arena using a baseline PID-based trajectory tracking controller. Results demonstrate accurate trajectory tracking and confirm the suitability of the E-Rocket as a versatile testbed for rocket GNC algorithms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06535 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | The E-Rocket: Low-cost Testbed for TVC Rocket GNC Validation Santos, Pedro Fonte, André Martins, Pedro Oliveira, Paulo Systems and Control This paper presents the E-Rocket, an electric-powered, low-cost rocket prototype for validation of Guidance, Navigation & Control (GNC) algorithms based on Thrust Vector Control (TVC). Relying on commercially available components and 3D printed parts, a pair of contra-rotating DC brushless motors is assembled on a servo-actuated gimbal mechanism that provides thrust vectoring capability. A custom avionics hardware and software stack is developed considering a dual computer setup which leverages the capabilities of the PX4 autopilot and the modularity of ROS 2 to accommodate for tailored GNC algorithms. The platform is validated in an indoor motion-capture arena using a baseline PID-based trajectory tracking controller. Results demonstrate accurate trajectory tracking and confirm the suitability of the E-Rocket as a versatile testbed for rocket GNC algorithms. |
| title | The E-Rocket: Low-cost Testbed for TVC Rocket GNC Validation |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2512.06535 |