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In this paper, we propose a novel swashplateless-elevon actuation (SEA) fordual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerialvehicles (UAVs). In contrast to the conventional elevon actuation (CEA) whichcontrols both pitch and yaw using elevons, the SEA adopts swashplatelessmechanisms to generate an extra moment through motor speed modulation tocontrol pitch and uses elevons solely for controlling yaw, without requiringadditional actuators. This decoupled control strategy mitigates the saturationof elevons' deflection needed for large pitch and yaw control actions, thusimproving the UAV's control performance on trajectory tracking and disturbancerejection performance in the presence of large external disturbances.Furthermore, the SEA overcomes the actuation degradation issues experienced bythe CEA when the UAV is in close proximity to the ground, leading to a smootherand more stable take-off process. We validate and compare the performances ofthe SEA and the CEA in various real-world flight conditions, includingtake-off, trajectory tracking, and hover flight and position steps underexternal disturbance. Experimental results demonstrate that the SEA has betterperformances than the CEA. Moreover, we verify the SEA's feasibility in theattitude transition process and fixed-wing-mode flight of the VTOL UAV. Theresults indicate that the SEA can accurately control pitch in the presence ofhigh-speed incoming airflow and maintain a stable attitude during fixed-wingmode flight. Video of all experiments can be found inyoutube.com/watch?v=Sx9Rk4Zf7sQ

Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV