Light polarization control is a key factor in modern photonics. Recent advances in surface plasmon manipulation have introduced the prospect of more compact and more efficient devices for this purpose. However, the current plasmonic-based polarization optics remain much larger than the wavelength of light, which limits the design degrees of freedom. Here, we present a plasmonic traveling-wave nanoantenna using a gold-coated helical carbon nanowire end-fired with a dipolar aperture nanoantenna. Our nonresonant helical nanoantenna enables tunable polarization control by swirling surface plasmons on the subwavelength scale and taking advantage of the optical spin-orbit interaction. Four closely packed helical traveling-wave nanoantennas (HTNs) are demonstrated to locally convert an incoming light beam into four beams of tunable polarizations and intensities, with the ability to impart different polarization states to the output beams in a controllable way. Moreover, by near-field coupling four HTNs of opposite handedness, we demonstrate a subwavelength waveplate-like structure providing a degree of freedom in polarization control that is unachievable with ordinary polarization optics and current metamaterials.