there has been wide interest in the research of Mars exploration. Morphing unmanned aircraft vehicle (MUAV) is one of most promising vehicles to execute special tasks in Mars exploration missions for its better aerodynamic characteristics compared with the conventional fixed wing vehicle. Modeling and control for MUAV are difficult problems. In this paper, firstly, the nonlinear six-degree-of-freedom (6DOF) dynamic model for MUAV is established, considering the asymmetry of the rotating wing. Secondly, control system is presented for the morphing aircraft based nonlinear dynamic inversion method. Finally, real-time simulation results are given to illustrate the control scheme can meet the requirements of attitude control.