The E-Rocket: Low-cost Testbed for TVC Rocket GNC Validation

2025/12/06 by Santos, Pedro, Fonte, André, Martins, Pedro +1
Engineering · #Adaptive Control of Nonlinear Systems #Spacecraft Dynamics and Control #Guidance and Control Systems

paper · doi:10.48550/arxiv.2512.06535

Abstract

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.

Citations

• Pitch Plane Trajectory Tracking Control for Sounding Rockets via Adaptive Feedback Linearization
• Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation
• Design, Optimal Guidance and Control of a Low-cost Re-usable Electric Model Rocket

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