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 journalArticle

7 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(Formula presented.) 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(Formula presented.) to 90(Formula presented.) since flight conditions with a 90(Formula presented.) 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)1-12
Number of pages12
JournalAdvanced Robotics
Publication statusAccepted/In press - 2016 Jan 15
Externally publishedYes


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

ASJC Scopus subject areas

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

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