Quantitative stability of quadrotor unmanned aerial vehicles

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• 作者：Yunping Liu ; Xianying Li ; Tianmiao Wang ; Yonghong Zhang ; Ping Mei
• 关键词：Quadrotor unmanned aerial vehicles ; Takeoff ; Landing ; Yawing ; Structural parameters ; Dynamics stability ; Lyapunov exponent
• 刊名：Nonlinear Dynamics
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：87
• 期：3
• 页码：1819-1833
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：87

文摘

This article studies the quantitative stability of quadrotor unmanned aerial vehicles, by analyzing the dynamics model and dynamics stability at the stage of takeoff, landing and yawing, respectively. The dynamics stability problems, such as shaking, losing the tracking accuracy of command and out of control, and the design of structural parameters were investigated in detail. Dynamics stability reflects the dynamics characteristics of the whole systems, which is mainly affected by the structural parameters and control moment. The stability of system can be improved by optimizing structural parameters. The quantitative relationship between structural parameters and dynamics stability is based on the theory of Lyapunov exponent from the designing viewpoint of structural parameter, which aims at improving the reliability and stability of systems. The results indicate that the dynamics stability of systems can be promoted by optimizing the structural parameters of systems, which demonstrates the feasibility and effectiveness of this method.