Control of a Quadrotor Equipped with a Fixed-wing by Tilting Some of Four Rotors

<p>Abstract—Unmanned aerial vehicles (UAVs) are being<br />expected to be used for the vegetational observation and the<br />information collection of disaster sites. Especially, rotorcrafts<br />typified by helicopters are attractive, because they are able to<br />hover and achieve vertical take-off and landing (VTOL).<br />However, rotorcrafts have a disadvantage that it cannot have a<br />long-distance flight, because they fly by the thrust of upward<br />direction. Aircrafts with tilt rotors are developed in order to<br />overcome such disadvantages. Such aircrafts can be hovering and<br />take a VTOL and also a long-distance flight by changing the<br />angle of the rotor. In this research, it is aimed at proposing a<br />VTOL-type UAV with a fixed-wing and four tiltable rotors and<br />controlling it.