Abstract
As R/C airplane, Quad Rotor Helicopter (QRH)is tiltedits attitude to generate horizontal force component for moving direction. So attitude control is important. In the case of autonomous control, attitude control system tilts the airframe against to the disturbance such as wind. As a result, the attitude of flying QRH always slants. In this study, extra thruster rotors are mountedto keep the position and horizontal attitude of QRH. Extra thrusters are tilted to generate thrust against to the disturbance without airframe inclination. This system is constructed with two ducted fans which can slant by two axes. To oppose the crosswind, the thruster slants the ducted fan to leeward. Because the airframe is kept the horizontal, it is suitable for a precise measurement.
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