Design and attitude control of a quad-rotor tail-sitter vertical takeoff and unmanned aerial vehicle

Atsushi Oosedo, Atsushi Konno, Takaaki Matsumoto, Kenta Go, Koji Masuko, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    15 Citations (Scopus)


    In this paper, we present the development of a quad-rotor tail-sitter unmanned aerial vehicle (UAV) that is composed of quad rotors and a fixed wing. The developed UAV can hover like a quad-rotor helicopter and can fly long distance like a fixed-wing airplane. The main wing of the developed UAV is taken from a commercially available radio-controlled airplane and other parts such as the body frame are newly developed. A microcomputer, various sensors and a battery are mounted on the UAV for autonomous flight without any support from a ground system. Attitude and altitude control systems are developed for the UAV. In order to verify the designed controller, a three-dimensional flight simulator of a quad-rotor tail-sitter UAV is developed by use of MATLAB/Simulink. This paper also describes attitude control experiments. The results show that the propeller slipstream has a negative influence on attitude control. Solutions for the negative influence of the propeller slipstream are also discussed in this paper.

    Original languageEnglish
    Pages (from-to)307-326
    Number of pages20
    JournalAdvanced Robotics
    Issue number3-4
    Publication statusPublished - 2012


    • Unmanned aerial vehicle
    • micro aerial vehicle
    • quad-rotor helicopter
    • tail-sitter
    • vertical takeoff and landing

    ASJC Scopus subject areas

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


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