Modeling and control of a rotor aerial robot system

In order to overcome the shortcomings of the dynamic structure of the ducted-fan aircraft,the paper proposes a new design of the disk-typed autonomous aerial robot based on rotor aerodynamic,named Micro aerial robot(MAR).MAR adopts inner and outer double-rotor system and disk-type body structure,and has some unique dynamic characters. Using the Newton-Euler modeling method,a six degrees of freedom(6 DOF) dynamic model of the system is established.The analysis of the MAR mathematic model shows that the system is non-linear and half coupleing,so the paper proposes a dual-loop non-linear PID control method(DLNPID) to achieve attitude and position control of the MAR. The simulation results validates the effectivenss of the design and control method of the system.