中文摘要：

本文设计了一种具有垂直起降、悬停和高速前飞能力的飞行器．这种飞行器通过模态转换，既能够实现类似传统四轴飞行器的垂直起降，又能够实现类似固定翼飞行器的高速前飞．同时本文针对这种飞行器设计了模态转换控制律：仿真试验验证了设计方案和控制律的有效性．

英文摘要：

We design a new aircraft with the ability of vertical take-off-and-landing（VTOL）, like a four-rotor aircraft; and the ability of flying forward with high speed, like an aircraft with fixed-wings. The flight-mode transition from hovering to forward flight and the reverse process are achieved. A flight-mode transition control law is designed. Both the designscheme and the proposed control law are verified by simulation.