CEAS Aeronautical Journal

, Volume 10, Issue 3, pp 937–954 | Cite as

Conceptual design and control of twin-propeller tail-sitter mini-UAV

Conceptual study of V-TS mini-UAV
  • Tomáš VogeltanzEmail author
Original Paper


This paper describes progress made on the design and analysis of a twin-propeller tail-sitter mini-UAV (named V-TS). Since the V-TS mini-UAV is a combination of airplanes and copters, high energy efficiency during the forward flight and VTOL capability in the hover flight are achieved. However, this configuration also brings new challenges and difficulties, especially in the case of control. Free software which was used in the design process is presented and described. AVIGLE Demonstrator is analyzed in SU2 to verify correct settings of the aerodynamic analysis. Furthermore, 3D model of the V-TS mini-UAV with the Y-tail configuration and its basic geometrical parameters are shown. The results prove that it is aerodynamically efficient for our purpose. In addition, probably all control modes, transitional flight phases, and difficulties which appear in the control of the twin-propeller tail-sitter mini-UAV are defined and solutions are proposed. The transitional flight phases are determined as a combination of the control modes and sub-modes.


Conceptual study Duo-copter Tail-sitter Twin-propeller UAV VTOL 

List of symbols


Drag coefficient


Zero-lift drag coefficient


Center of gravity


Lift coefficient


Zero-lift coefficient


Maximum lift coefficient


Lift-to-drag ratio

CT (N)

Center of thrust

LT (N)

Left-propeller’s center of thrust


Mean aerodynamic chord


Reynolds number

RT (N)

Right-propeller’s center of thrust

α (°)

Angle of attack



This work was supported by the Ministry of Education, Youth and Sports of the Czech Republic within the National Sustainability Programme Project No. LO1303 (MSMT-7778/2014), and also by the European Regional Development Fund under the project CEBIA-Tech No. CZ.1.05/2.1.00/03.0089, and by the Internal Grant Agency of Tomas Bata University under the projects No. IGA/CebiaTech/2017/001 and IGA/CebiaTech/2016/002.


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Copyright information

© Deutsches Zentrum für Luft- und Raumfahrt e.V. 2019

Authors and Affiliations

  1. 1.Department of Computer and Communication Systems, Faculty of Applied InformaticsTomas Bata University in ZlínZlínCzech Republic

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