# Jupiter

updated 8 July 2022

Jupiter expands upon the work of rockets to develop a hardware prototype of a model rocket with thrust vectoring. I am still in the early phases, but when completed this project will include:

• A full 3D 6DOF simulation of the hardware, with control strategies and hyper-parameter testing
• A hardware prototype that uses ducted fans for propulsion and is autonomously controlled
• Supporting test hardware to develop mathematical models (for the simulation) with actual flight hardware
• A cool flight demo video from onboard cameras!

See this video for an example of the inspiration for this project.

Completion of this project will take quite a lot of time and effort, but I’m excited to get started! Some of the things I hope to learn along the way:

• PID tuning and use of these controllers inline to reduce overall system error
• Kalman filters, for multi-sensor fusion and state estimation
• Constrained LQR
• Robust control techniques
• Embedded systems and “pseudo-real-time” development
• Further learning of C++ and Python programming

## Similar Projects

Other people have completed similar projects! Some of the interesting ones I found:

It looks like most of these “Electric Ducted Fan Rockets” (EDF) are designed to be remotely controlled and fly like a drone, rather than autonomously.