Design and Modeling of a Disk-Typed Autonomous Aerial Robot

This paper proposes a new kind of disk-typed autonomous aerial robot, which can overcome some shortcomings of the structure of the ducted-fan aircraft. In order to derive the mathematical model of the disk-typed autonomous aerial robot (DAAR), the Newton-Euler equations have been employed. After that, this model is verified by numerical simulations, the outcome is in line with the physical fact. The mathematical model of DAAR, in this paper, is transformed into the state space model, which is proved to be controllable and observable. At the end, the position of center of gravity is studied, the result shows that the center of gravity which is under the center of the body, can adjust the attitude automatically.