近年來，多旋翼系統的發展已漸趨成熟且有許多方面的應用。然而，電池能量的高消耗以及馬達的低效率升力造成多旋翼的載重及航程受到限制。本論文提出藉由汽油引擎和無刷馬達的整合來解決上述的限制。此混和動力多旋翼系統是由引擎帶動的四旋翼與馬達帶動的四旋翼整合而成的雙動力系統，並命名為QiQ。本系統的機構製作過程中，透過適當的設計與減重來達成高升力、低震動以及結構平衡等考量。微控制器的設計與控制方法使正轉與反轉引擎的轉速可以精確的控制。本論文最後以兩次實際的飛行測試來驗證系統的酬載能力及穩定飛行控制。

The development of multi-rotor system has been improved and applied to various applications. However, with constraints on battery and motor, the performance of multi-rotor system is limited in payload and flight endurance. The limitations are solved by introducing gas engine to work with DC brushless motor. A hybrid powered multi-rotor system is designed by dual systems which include engine-driven quad-rotor and motor-driven quadrotor. The proposed multi-rotor system is named Quad-in-Quad (QiQ) system. System design considerations on high thrust, reverse torque, vibration, structure and weight balance are included by carefully weight reduction into fabrication. Microprocessor control system is designed and implemented to make gas engine control speed precisely in both directions. Two practical flight tests have completed on this dual quad-rotor system to verify its stability flight control and payload capability.

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