Arbitrary Attitude Hovering Control of Quad Tilt Rotor Helicopter

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  • Miwa Masafumi
    Institute of Science and Technology, Tokushima University
  • Uemura Shinji
    Graduate School of Advanced Technology and Science, Tokushima University
  • Imamura Akitaka
    Department of Electronics, Information and Communication Engineering, Osaka Sangyo University

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<p>The quad tilt rotor helicopter (QTRH), a tilt-rotor aircraft prototype, has fixed wings for long-range high-speed flight. Its rotor-tilt mechanism controls 4 rotor-tilt angles independently and controls its roll and pitch angles similarly to a multirotor helicopter. It controls yaw angle by thrust vectoring and moves forward and backward by tilting its rotors. Rotor-tilting maneuvers are the initial stage of flight-mode transition between helicopter and fixed-wing modes.</p>

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