Waypoint tracking, trajectory tracking and flight time tests were performed and analyzed. A closed-loop feedback control is achieved using a motion-captured camera system, where a hybrid proportional stabilizer controller and proportional-integral position controller are applied. Lateral control is achieved by pulsing the thrust unit at specific instances during each cycle of rotation. It achieves altitude control by regulating the force generated from the thrust unit throughout multiple rotations. Furthermore, the proposed craft accomplishes a controllable flight in 5 degrees of freedom by using only one thrust unit. The wing construction uses a special technique for its lightweight and semi-rigid design, and together with a purpose-designed autopilot board, the entire craft can be folded into a compact pocketable form factor, decreasing its footprint by 69%. The wing is non-rigid when not in flight and relies on centrifugal forces to become straightened during flight. In this work, a monocopter with a foldable, semi-rigid wing is proposed and its resulting flight performance is studied. However, compared to a multi-rotor of similar weight, monocopters can be large and cumbersome for transport, mainly due to their large and rigid wing structure. A large section of its fuselage forms the single wing where all its useful aerodynamic forces are generated, making it achieve a highly efficient mode of flight. The monocopter is a type of micro aerial vehicle largely inspired from the flight of botanical samaras ( Acer palmatum).
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