Dynamics modeling and real-time fault-tolerant control of a rotor aerial robot

The present micro aerial vehicle (MAV) is lack of maneuverability and security when operates in the restricted environment. To solve such problem, a rotor powered disk-type autonomous aircraft-Micro Aerial Robot(MAR) was designed, which adopts built-in blades and redundant actuators structure to enhance vehicle´s safety and robustness, and adopts the inner and outer two rotor systems and disk-type airframe structure, which help the MAR has better aerodynamic characters and maneuverability compared to the common MAV. The six degrees of freedom (6 DOF) dynamic model was built using the Newton - Euler method. A real-time fault-tolerant adaptive control method was designed to achieve real-time and accurate tracking control of the aircraft when the parameters associated with the input variables suffer uncertain disturbance. Simulation of the simplified mode of the aircraft were carried out in the matlab/SIMULINK environment, which verified that the aircraft had good maneuverability and robustness which is necessary when it works in the restricted environment.