In　order　to　overcome　the　shortcomings　of　the　dynamic　structure　of　the　ducted-fan　aircraft,　the　paper　proposes　a　new　design　of　the　disk-typed　autonomous　aerial　robot　based　on　rotor　aerodynamic,　named　Micro　aerial　robot(MAR).　MAR　adopts　inner　and　outer　double-rotor　system　and　disk-type　body　structure,　and　has　some　unique　dynamic　characters.　Using　the　Newton-Euler　modeling　method,　a　six　degrees　of　freedom(6　DOF)　dynamic　model　of　the　system　is　established.　The　analysis　of　the　MAR　mathematic　model　shows　that　the　system　is　non-linear　and　half　coupleing,　so　the　paper　proposes　a　dual-loop　non-linear　PID　control　method(DLNPID)　to　achieve　attitude　and　position　control　of　the　MAR.　The　simulation　results　validates　the　effectivenss　of　the　design　and　control　method　of　the　system.　©　2011　IEEE.