Dynamics Modeling and Fault-tolerant Adaptive Control of a Rotor Aerial Robot

The present unmanned aerial vehicle(UAV) is always lack of maneuverability and security when operated in the restricted environment.To solve such a problem,a rotor powered disk-type autonomous aircraft—rotor aerial robot(RAR) 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 to improve the aerodynamic characteristics and maneuverability of the RAR.The six-degrees-of-freedom(6-DOF) dynamic model was built using the Newton-Euler method,and according to the problem that the actuators' parameters are unstable when affected by the aerodynamic disturbance or faults,a fault-tolerant adaptive control method was designed.Simulation of the RAR's lateral channel control was carried out in the Matlab/SIMULINK environment,which verifies that the RAR had good maneuverability and robustness.