Research on improvement of the dynamic stability of quadrotor unmanned aerial vehicles during take-off and landing

Considering that the dynamic stability problems of quadrotor unmanned aerial vehicles are very easy to arise during take-off and landing due to the disturbance from the complex airflow, a method for improvement of an aerial vehicle's dynamic stability by optimization of its structural parameters was proposed. Starting from the structural design of the vehicle, the method uses the Lyapunov exponent approach to establish the quantitative relationship between the structural parameters of a quadrotor unmanned aerial vehicle 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. The feasibility and effectiveness of the proposed method were verified by practical case simulation.