Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control

  • Kenzo Nonami
  • Farid Kendoul
  • Satoshi Suzuki
  • Wei Wang
  • Daisuke Nakazawa


In this chapter, we propose an autonomous attitude control of a quad tilt wing-unmanned aerial vehicle (QTW-UAV). A QTW-UAV can achieve vertical takeoff and landing; further, hovering flight, which is characteristic of helicopters, and high cruising speeds, which are a characteristic of fixed-wing aircraft, can be achieved by changing the angle of the rotors and wings by a tilt mechanism. First, we construct an attitude model of the QTW-UAV by using the identification method. We then design the attitude control system with a Kalman filter-based linear quadratic integral (LQI) control method; the experiment results show that a model-based control design is very useful for the autonomous control of a QTW-UAV.


Angular Rate Autonomous Control Control System Design Attitude Control System Attitude Controller 
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Copyright information

© Springer 2010

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Farid Kendoul
    • 2
  • Satoshi Suzuki
    • 3
  • Wei Wang
    • 4
  • Daisuke Nakazawa
    • 5
  1. 1.Faculty of EngineeringChiba UniversityChibaJapan
  2. 2.CSIRO Queensland Centre for Advanced TechnologiesAutonomous Systems LaboratoryPullenvaleAustralia
  3. 3.International Young Researchers Empowerment CenterShinshu UniversityUedaJapan
  4. 4.College of Information and Control EngineeringNanjing University of Information Science & TechnologyNanjingP.R. China
  5. 5.Advanced Technology R&D CenterMitsubishi Electric CorporationAmagasakiJapan

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