UAV(Unmanned Aerial Vehicle)的發展已經有很長的歷史，不論是軍方、民間團體或者是學術界皆致力於UAV的研究，也發展出了各種型態的無人飛行載具。過去本實驗室也同樣以飛行船為基礎，成功達成飛行船的自主性飛行。而UAV主要構型為定翼機及旋翼機，他們各有適用的任務，因此，我們希望可以發展一無人飛行載具構型，使得載具在飛行上同時具有定翼機及旋翼機的特性。
在此研究中，以尾立式定翼機作為載具構型，發展仿旋翼機停懸功能的控制技術。利用傳統R/C遙控器配合自行研發之機載電腦與控制程式來提升飛行的穩定性及操控性，同時透過地面站系統顯示即時的控制律執行情形。其中我們建立了載具的非線性與線性模型作為設計控制律之用，並建立模擬環境來與實際飛行數據作比較。最後以實際的飛行測試來驗證整套系統。

The research of the UAV has been developed for a long time. Also, the application has expanded from the military to the folk in recent years. In this laboratory, we already complete the automatic control of an airship. Both the fixed-wing aircraft and the helicopter have its own advantages, depending on the mission. So, the motivation of this research is to develop an UAV which can combine fixed-wing aircraft and the helicopter.
In this research, we choose the VTOL (Vertical Take-Off and Landing) UAV to develop our autopilot system for the hovering motion. In additional to the traditional remote control system, onboard computer system and the control laws are developed to improve the stability and controllability of the aircraft, and also the UGS (UAV Ground Station) shows the information of the UAV. Both the nonlinear and linear models were built for designing control laws, so that the flight data can be compared with the simulation results. In the end, we do the flight experiments to verify the whole system.

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