The　paper　presents　a　kind　of　URAV(unmanned　rotor　aerial　vehicle)which　can　be　reconfigurable　controlled.　Its　actuators　include　the　major　rotor　inside　the　duct,　four　auxiliary　rotors　surrounding　the　major　rotor　and　two　ailerons　at　the　end　of　the　duct.　The　auxiliary　rotors　have　the　similar　functions　as　that　of　the　major　rotor　and　ailerons　in　order　to　make　the　system　to　own　the　ability　of　reconfigurable　control.　The　Newton-Euler　method　is　adopted　to　build　the　6　DOF(degree　of　freedom)　dynamic　model　of　the　URAV.　Based　on　the　model,　the　controllability　and　dynamic　characteristic　of　the　system　is　analyzed　near　the　hover　state,　and　it　is　proved　that　the　control　of　the　lateral　attitude　and　vertical　displacement　have　better　dynamic　responses.　Then,　the　multi-models　reconfigurable　control　method　is　adopted　to　build　the　flight　control　system　in　order　to　verify　the　fault　tolerance　of　the　URAV.　The　result　shows　that　the　URAV　has　robustness　to　some　kinds　of　failure.　The　proposed　model　and　related　analysis　provide　some　theoretical　basis　for　the　design　and　control　of　the　URAV.　©　2012　IEEE.