中文摘要：

针对目前无人飞行器在受限环境执行作业时操控性和安全性不足的问题，设计了一种基于旋翼动力的碟式自主旋翼飞行机器人（rotoraerialrobot，RAR），采用内置桨叶和冗余执行机构以增强飞行器的安全性和容错能力，采用内、外双旋翼系统和碟式机体构架以提高空气动力特性和操控性能．运用牛顿一欧拉方法建立了系统的6自由度（six—degrees—of—freedom，6-DOF）动力学模型，根据模型执行环节易受气动干扰或故障等因素影响而出现参数不稳定的问题，设计了容错自适应控制方法，在Matlab／sIMuuNK环境下以飞行器的侧向通道控制为例进行了仿真实验，验证了旋翼飞行机器人具有良好的操控性和鲁棒性．

英文摘要：

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.