Modeling and Analysis of Chaos and Bifurcations for the Attitude System of a Quadrotor Unmanned Aerial Vehicle

Haiyun Bi, Guoyuan Qi and Jianbing Hu

Complexity, 2019, vol. 2019, 1-16

Abstract:

A model of the attitude system for a quadrotor unmanned aerial vehicle (QUAV), assumed to be a rigid body, is developed. For specific parameter configurations, a chaotic region with a saddle and two stable node-focus equilibrium points is identified. The chaotic model provides an important reference for dynamic analysis and a challengeable task of controller design once the flight enters the chaotic region of parameters. The pitchfork bifurcation of the equilibrium points is provided. Rich dynamics of the system are revealed by two bifurcation regions, which demonstrates the diversity of the flight behaviors as the parameters vary. One bifurcation analysis is with respect to the speed of the front propeller and the speed difference of the front and left propellers, and another one is with respect to the speed of the front propeller and moment of inertia. The dynamic characteristics of the QUAV are further verified by the Casimir power bifurcations. The trajectories of three settings with different structural parameters are analyzed in detail. The stability of the QUAV is found to be enhanced for certain optimized values of the structural parameters. Finally, using the Casimir power and Lagrange multiplier method, a supremum bound of the chaotic attractor is presented.

Date: 2019
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

Downloads: (external link)
http://downloads.hindawi.com/journals/8503/2019/6313925.pdf (application/pdf)
http://downloads.hindawi.com/journals/8503/2019/6313925.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:6313925

DOI: 10.1155/2019/6313925

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().