|Table of Contents|

Quantitative stability of quadrotor unmanned aerial vechicle during yawing


Research Field:
Publishing date:


Quantitative stability of quadrotor unmanned aerial vechicle during yawing
Liu Yunping12Li Xianying1Wang Tianmiao2Zhang Yonghong1Mei Ping1
1.College of Information and Control,Nanjing University of Information Science and Technology, Nanjing 210044,China; 2.College of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China
quadrotor unmanned aerial vehicles mechanical structure quantification stability Lyapunov exponents
The reasonable configuration of structural parameters and dynamic parameters of the quadrotor unmanned aerial vehicles is helpful for improving the stability and saving the energy consumption.In view of that the qualitative analysis is still the main methods for analyzing the stability while the index of quantitative analysis of the structural stability is hard to establish,the yawing process of the quadrotor unmanned aerial vehicle is investigated and the Lyapunov exponent is adopted to establish the quantification relationship of the control input and the mechanical structural parameters of quadrotor unmanned aerial vehicles with its stability.The obtained relationship of structural parameters and the energy spectrum provides the analysis basis for improving the stability of the quadrotor unmanned aerial vehicles during yawing,such as the instability and the poor endurance.Compared with the traditional method,the method of Lyapunov exponent is easier to be built and the calculation process is simpler,and it can be widely applied to the stability analysis of nonlinear system of other robots.


[1] 白永强,刘昊,石宗英,等.四旋翼无人直升机鲁棒飞行控制[J].机器人,2012,34(5):519-524.
Bai Yongqiang,Liu Hao,Shi Zongying,et al.Robust flight control of quadrotor unmanned air vehicles[J].Robot,2012,34(5):519-524.
[3]Kumon M,Katupitiya J,Mizumoto I.Robust attitude control of vectored thrust aeria vehicles[J].Journal of Process Control,2011,28(8):2607-2613.
[7]Hong S T,Lee M,Kim D M.Dynamics and control of a single tit-wing UAV[C]//Proceeding of the Control,Automation and Systems(ICCAS),2012 12th International Conference on.Jeju Island,Korea:IEEE,2012:430-432.
Li Yibo,Song Shuxi.Hovering control for quadrotor unmanned helicopter based on fuzzy self-tuning PID algorithm[J].Control Engineering of China,2013,20(5):910-914.
[9]Pflimlin J M,Soueres P,Hamel T.Position control of a ducted fan VTOL UAV in crosswind[J].International Journal of Control,2007,80(5):666-683.
[10]Amiri N,Ramirez Serrano A.Integral backstepping control of an unconventional dual-fan unmanned aerial vehicle[J].J Intell Robot Syst,2013,69:147-159.
[11]Islam S,Liu P X,Saddik A El.Nonlinear adaptive control for quadrotor flying vehicle[J].Nonlinear Dynamics,2014,78:117-133.
[12]Xia J,Xiao D.Chaotic time series prediction model based on the Lyapunov index and CBP[J].Statistics and Decision,2007,19(2):21-44.
[13]Li X,Kang T,Quan H,et al.Research based on the correlation dimension and maximum Lyapunov exponent motion HRV signal[J].Biomedical Engineering Research,2009,28(3):188-192.
[14]Sun Y,Wu C Q.Stability analysis via the concept of Lyapunov exponents:A case study in optimal controlled biped standing[J].International Journal of Control,2012,85(12):1952-1966.
[15]Dingwell J B,Marin L C.Kinematic variability and local dynamic stability of upper body motions when walking at different speeds[J].Journal of Biomechanics,2006,39:444-452.
[16]Yang C,Wu Q.On stabilization of bipedal robots during disturbed standing using the concept of Lyapunov exponents[J].Robotica,2006,24:621-624.
[17]Emad N Abdulwahab,Qasim A Atiyah.Aircraft lateral-directional stability in critical cases via Lyapunov exponent criterion[J].AI-Khwarizmi Engineering Journal,2013,9(1):29-38.
Zhang Wenchao,Tan Sichao,Gao Puzhen.Chaotic forecasting of natural circulation flow instabilities under rolling motion based on Lyapunov exponents[J].Acta Physica Sinica,2013,26(6):060502-1-8.


Last Update: 2016-10-30