由於無人飛行載具有著重量輕、體積較小、動態性能高，而其本身最吸引人的特點是無須考慮人員的負擔。回顧UAV歷史上的發展大多為定翼機或者是懸停機，而本研究的目的就是在於設計並控制一款同時具備懸停及平飛的載具。
在這個研究中，我們使用雙螺旋槳電動無刷馬達做為我們的動力系統，配合自行設計的載具外型，製做出初步的原型機。並且我們使用近年來快速發展的嵌入式系統，讓控制系統整體重量降低、成本降低等。過程中，我們建立了載具完整的數學模型，並自行撰寫控制程式與地面監控程式，最後以實際的飛行測試來驗證整套系統並修正其不足的部分。

The unmanned aerial vehicle (UAV) has the advantage of light weight, small size, and better dynamic performance, and the biggest attraction is there are unmanned. Reviews the histories of UAV we can find out that most of the research are focus on fixed-wing and rotated-wing. The purpose of this paper is to design and control a UAV which combines both advantages.
In this paper, we use two electric motors as our power system and a tail-sitter which design by ourselves to complete the prototype. We use embedded onboard computer to make whole system lighter and cheaper. The nonlinear and linear mathematical models were built, and we also developed the Ground Station too. Finally, the real flight tests are performed verify the whole system and correct the shortcomings.

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