The invention relates to a distributed oil-driven multi-rotor aircraft and a control method thereof.The aircraft comprises a transverse arm and a longitudinal arm which are arranged in a layered mode, the two ends of the transverse arm are each provided with a first rotor, and each first rotor is connected with a
transverse engine through a transverse transmission structure; the two groups of transverse transmission structures and the two groups of transverse engines are arranged in the transverse arm; second rotors are arranged at the two ends of the longitudinal
machine arm correspondingly, each second rotor is connected with a longitudinal engine through a longitudinal transmission structure, and the two longitudinal transmission structures and the two longitudinal engines are all arranged in the longitudinal
machine arm. According to the multi-rotor aircraft, the fuel engine is adopted, distributed arrangement of a power
system is achieved, long-endurance and long-voyage application of the aircraft can be achieved, the production cost of the aircraft can be reduced, and the use reliability of the multi-rotor aircraft can be improved; compared with a common helicopter, pitching and rolling
control force is far away from the
gravity center, and control is more agile and reliable.