The stability analysis of quadrotor unmanned aerial vechicles

Abstract

The problems of dynamic stability of the quadrotor Unmanned Aerial Vehicles (UAV), such as: cornering, wear, and explosion of oar take place due to the aerodynamic force and gyroscopic effect during takeoff and landing process; the vibration; reduction of instruction tracking accuracy; and out of control are prone to take place due to the influence of atmospheric turbulence and motion coupling during yawing. However, the optimized structural parameters of the aircraft is very important for improving the stability of the motion control and the energy saving. Therefore, the relationship of quantification between structural parameter of quadrotor UAV and dynamic stability is built with the method of Lyapunov exponent starting from structure design of mechanical, which guides the mechanical structural design and provides important basis for optimizing the control system. This relationship lays a basic foundation for enhancing the reliability and stability for the flight mission. Compared with the direct method of Lyapunov, the method of Lyapunov exponent is easier to build, and the calculation process is simpler.