抄録
Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underactuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the flight control system for flight condition with a ±90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight. We verify the adequate control system for flight in a wide range of attitude conditions through flight experiment.
