  A deformable land-air robot is introduced with excellent driving and flying
capabilities, offering a smooth switching mechanism between the two modes. An
elaborate coupled dynamics model is established for the robot, including
rotors, chassis, suspension, and the deformable structure. In addition, a
model-based controller is designed for landing and mode switching in various
unstructured conditions, such as slopes and curved surface. And considering
locomotion and complex near-ground situations to achieve cooperation between
the two fused modalities. This system was simulated in ADAMS/Simulink and a
tested with hardware-in-the-loop system was constructed for testing in various
slopes. With a designed controller, the results showed the robot is capable of
fast and smooth land-air switching, with a 24.6 % faster landing on slopes. The
controller can also reduce landing offset and impact force more effectively
than the normal control method at 32.7 % and 34.3 %, respectively.
