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Open AccessArticle
Analysis and Enhancement of Steady Climb Performance with Control Input Redundancy for a Dual-Propulsion VTOL UAV
1
Department of Information Science, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
2
Aerosense Inc., 1-1-14 Tabatashinmachi, Kita-ku, Tokyo 114-0012, Japan
3
Department of System Informatics, Graduate School of System Informatics, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
*
Authors to whom correspondence should be addressed.
Aerospace 2026, 13(4), 316; https://doi.org/10.3390/aerospace13040316 (registering DOI)
Submission received: 13 February 2026
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Revised: 13 March 2026
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Accepted: 26 March 2026
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Published: 28 March 2026
Abstract
Dual-propulsion UAVs employ separate rotors for rotary-wing and fixed-wing modes to achieve VTOL (vertical take-off and landing) and high-speed cruise. This paper analyzes steady climb in high-speed flight by utilizing the redundant rotary-wing rotors. We develop the models of aerodynamic forces and thrust forces of a dual-propulsion UAV to obtain its longitudinal dynamic model. The maneuverability of the UAV is analyzed based on the dynamic model to reveal whether a steady climb at a given climb angle is possible within allowable thrust forces. The analytical results show that the climb flight performance of the UAV can be enhanced by utilizing the redundant control inputs during high-speed flights. Flight experiments not only demonstrate that several climb flight states predicted by the analysis are successfully realized, but also that steady climb at a higher climb angle, unattainable in conventional fixed-wing mode, is made possible by simultaneously using the rotors for rotary-wing mode. The enhanced flight performance would increase the number of missions that the UAV can accomplish.
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MDPI and ACS Style
Kikumoto, C.; Urakubo, T.; Sabe, K.; Hazama, Y.
Analysis and Enhancement of Steady Climb Performance with Control Input Redundancy for a Dual-Propulsion VTOL UAV. Aerospace 2026, 13, 316.
https://doi.org/10.3390/aerospace13040316
AMA Style
Kikumoto C, Urakubo T, Sabe K, Hazama Y.
Analysis and Enhancement of Steady Climb Performance with Control Input Redundancy for a Dual-Propulsion VTOL UAV. Aerospace. 2026; 13(4):316.
https://doi.org/10.3390/aerospace13040316
Chicago/Turabian Style
Kikumoto, Chihiro, Takateru Urakubo, Kohtaro Sabe, and Yuichi Hazama.
2026. "Analysis and Enhancement of Steady Climb Performance with Control Input Redundancy for a Dual-Propulsion VTOL UAV" Aerospace 13, no. 4: 316.
https://doi.org/10.3390/aerospace13040316
APA Style
Kikumoto, C., Urakubo, T., Sabe, K., & Hazama, Y.
(2026). Analysis and Enhancement of Steady Climb Performance with Control Input Redundancy for a Dual-Propulsion VTOL UAV. Aerospace, 13(4), 316.
https://doi.org/10.3390/aerospace13040316
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