Structural stability analysis and optimization of the quadrotor unmanned aerial vehicles via the concept of Lyapunov exponents

The aim of this study is to increase the dynamic stability of the quadrotor unmanned aerial vehicles in varying structural parameters. The qualitative analysis is considered the main method for analyzing the dynamic stability, while the index of qualitative analysis of the structural stability and the dynamic stability is still hard to establish. Therefore, the process during takeoff, pitching, or yawing is selected for investigating in the present papers, the method of Lyapunov exponent is adopted for establishing the quantification relationship between structural parameters of the quadrotor unmanned aerial vehicles and dynamic stability, which provides 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.