Large attitude change flight of a quad tilt rotor unmanned aerial vehicle

Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


Quadrotor unmanned aerial vehicles (UAVs) have been actively used in various fields. However, only the altitude and the attitude in three degrees of freedom can be independently controlled since quadrotor UAVs are underactuated systems. A quad tilt rotor UAV solves the problem of an underactuated system in a general quadrotor UAV. The quad tilt rotor UAV can control both position and attitude independently by tilting the directions of the propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example a UAV can fly and hover with a 90 pitch angle, and it can even flip over when the thrust direction is tilted in a wide enough range. In this paper, we present the attitude transition flight control system for pitch angles ranging from 0 to 90 since flight conditions with a 90 pitch angle significantly differs from that in a conventional quadrotor UAV flight. We construct an adequate control system for a flight with a wide range of attitude conditions.

Original languageEnglish
Pages (from-to)326-337
Number of pages12
JournalAdvanced Robotics
Issue number5
Publication statusPublished - 2016 Mar 3
Externally publishedYes


  • Tilt rotor aircraft
  • flight control
  • motion planning
  • quadrotor
  • unmanned aerial vehicle

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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