Retardational Effect and Hopf Bifurcations in a New Attitude System of Quad-Rotor Unmanned Aerial Vehicle

Abstract

The effect of retardation along second vector of angular velocity on a new attitude system of quad-rotor unmanned aerial vehicle (QUAV) is examined in this paper. Catastrophic and hovering conditions of rotor dynamics are verified through bifurcation analysis. It is analyzed that disturbed rotor dynamics during yaw maneuvering lead towards the existence of oscillations and hamper the efficiency of attitude system. We have categorically signified the situation where remote controller of attitude system cannot prevent flipping and consequently, shortens the life of QUAV. This type of situation arises in a strong wind friction zone where positive drag force of rotor dynamics is impeded by the magnitude of rotational moment of inertia. Moreover, subcritical and zero-Hopf bifurcations aroused due to retardational effect in attitude system are analyzed with the aid of normal form and averaging theory. Numerical simulations are also provided for validation of analytical results.