Stability Analysis and Structural Parameters Optimization of Quadrotor Unmanned Aerial Vehicles

To increase dynamic stability of the quadrotor unmanned aerial vehicles in varying mechanical structure. The qualitative analysis is considered the main methods for analyzing the dynamic stability, while the index of qualitative analysis of the structural stability and the dynamic stability are still hard to establish. Therefore, the process during rolling or pitching is selected for investigating in the present papers, the method of Lyapunov exponent is adopted for establishing the quantification relationship of between structural parameters of quadrotor unmanned aerial vehicles and dynamic stability, and its dynamic stability for guiding the design of the vehicle's mechanical structure and the optimization of its stability control by using the relationship. As compared to its counterpart of Lyapunov's second method, the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponent process are constructive which makes the stability analysis of complex nonlinear systems possible.