Quantitative stability of quadrotor unmanned aerial vehicles

Liu, Yunping; Li, Xianying; Wang, Tianmiao; Zhang, Yonghong; Mei, Ping

doi:10.1007/s11071-016-3155-9

Cited by 21 publications

(6 citation statements)

References 13 publications

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“…In this section, a simulator developed with the MATLAB/SIMULINK environment has been used to test the proposed hybrid controller for a quadrotor system. e main parameters of the quadrotor are m � 1.515 kg, I x � I y � 0.0211 kgm 2 , I z � 0.0366 kgm 2 , L � 0.63m, k t � 1.681 × 10 − 5 , k m � 2.783 × 10 − 7 , ρ a � 1.29 kg/m 3 , A � 0.17 m 2 , and R � 0.23 m. It should be noted that the structural parameters can be identified by direct and indirect measurement approaches [25,26], and these parameters are derived from the actual quadrotor.…”

Section: Simulation Resultsmentioning

confidence: 99%

Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

Ji¹,

Cai

2021

Journal of Robotics

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The purpose of this article is to explore a dual-loop problem regarding the trajectory tracking control of a quadrotor unmanned aerial vehicle, applying a linear active disturbance rejection and conditional integrator sliding mode controller, namely, LARC-CISMC. The quadrotor system model is derived through Newton–Euler method and consists of two subsystems. The hybrid controller for position and attitude loops is constructed. An evaluation of the proposed controller is presented in comparison with the linear active disturbance rejection controller. Simulation comparisons and experimental tests illustrate that the proposed controller has a satisfied robustness and accuracy under lumped disturbances.

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Section: Simulation Resultsmentioning

confidence: 99%

Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

Ji¹,

Cai

2021

Journal of Robotics

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“…When the Lyapunov exponent is greater than 0, the system is unstable or chaotic. When the Lyapunov exponent is 0, the phase trajectories are periodic [25].…”

Section: Analysis Of System Stability Based On Lyapunov Exponentsmentioning

confidence: 99%

“…Terefore, establishing a quantitative relationship between quadrotor structural parameter changes and their motion stability is of signifcant engineering and practical signifcance for guiding mechanical design and optimizing control systems to improve motion stability. Liu and Amiri et al used the concept of Lyapunov indices to improve system reliability and stability from the perspective of structural parameter design [10,11].…”

Section: Introductionmentioning

confidence: 99%

Quantitative Study of Load Stability of Quadrotor Based on Lyapunov Exponents

Dong

Zhang

Liu

et al. 2023

International Journal of Antennas and Propagation

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This paper addresses the issue of dynamic instability in quadrotor caused by changes in load mass during flight. To tackle this problem, the Lyapunov exponent method is adopted to study the dynamics and motion stability of the system. This approach resolves the challenge of constructing system eigenvalues due to the nonlinearity and high order of the quadrotor. To enhance the reliability of stability analysis, a quantitative relationship between system dynamics parameters and motion stability is established by combining the dynamic model with the Lyapunov exponent method. This approach compensates for inaccuracies in theoretical modeling analysis caused by factors such as load mass changes. The experiments demonstrate that changing the wheelbase and load mass improves flight motion stability, ensuring the reliability of the quadrotor flight system. Overall, this paper provides an in-depth analysis of the motion stability of a quadrotor and proposes a reliable method for stability analysis that accounts for changes in load mass during flight.

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“…On the other hand, an alternative tool is used to analyze the stability of the nonlinear dynamical system, which is the concept of Lyapunov exponents (LEs). 6 LEs can be described as the average exponential rates of divergence or convergence of nearby orbits in the state space, which can imply system's stability. When the numerical value of the LE is smaller than 0, the phase orbit of the system will be attracted to a stable fixed point which suggests the whole systems should be stable.…”

Section: Introductionmentioning

confidence: 99%

On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

Chen

Dong

et al. 2019

International Journal of Advanced Robotic Systems

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This article researches the improvement of dynamics stability of the ducted fan unmanned aerial vehicles by optimizing its mechanical–structure parameters. The instability phenomenon of ducted fan unmanned aerial vehicles takes place frequently due to the complicated airflow in near-earth space, which easily leads to the stability problems, such as out of control, shaking, and loss accuracy of command tracking. The dynamics equations mirror its dynamics characteristics, which are primarily influenced by the mechanical–structure parameters of the whole system. Based on this, the optimization of mechanical–structure parameters has a significant to improve the dynamics stability of the whole system. Therefore, this article uses the concept of Lyapunov exponents to build the quantification relationship between system’s mechanical–structure parameters and its motion stability to enhance its stability from viewpoint of mechanical–structural parameter design. The takeoff, landing, and hovering stage are respectively studied and the conclusions suggest that the optimization of mechanical–structure parameters can be used to promote dynamics stability.

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Quantitative stability of quadrotor unmanned aerial vehicles

Cited by 21 publications

References 13 publications

Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

Disturbance Rejection Trajectory Tracking Control for an Unmanned Quadrotor Based on Hybrid Controllers

Quantitative Study of Load Stability of Quadrotor Based on Lyapunov Exponents

On dynamic characteristics and stability analysis of the ducted fan unmanned aerial vehicles

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