Seamless 90 degree roll-up hovering control of a quad tilt-rotor UAV

In recent years, multi-rotor UAVs are being studied for use in various fields because of their high mobility. However, the conventional multi-rotor UAVs have a structural drawback that the position and attitude cannot be independently controlled. To overcome such a drawback, a quad tilt-rotor UAV has been developed which has a capability of independent position and attitude flight by adding actuators to change the direction of each thrust. In this research, we develop a control system for seamless attitude change flight of the quad tilt-rotor UAV. The validity of the developed control system is verified by numerical simulation.