Abstract
A quadrotor helicopter (QRH) is a radio control (RC) aircraft that tilts its attitude to generate a horizontal force component to move in a direction. With autonomous control, the attitude control system tilts the airframe against disturbances such as wind. Thus, the attitude of a flying QRH is always slanted. In this study, extra thruster rotors were mounted to maintain the position and horizontal attitude of the QRH. The extra thrusters are tilted to generate a thrust against disturbances without inclination of the airframe. This system is constructed with two ducted fans that can tilt on two axes. It is suitable for precise measurements where the airframe posture needs to stay horizontal.
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