Quantitative Study of Load Stability of Quadrotor Based on Lyapunov Exponents

Table 1

System structures feature table.

Features	Symbolss	Numbers
System quality		1.527 kg
Acceleration		9.8 m/s^2
Wheelbase		0.36 m
Tension coefficient		1.0792E − 005 N
Torque coefficient		1.89E − 007 N.m
Rotor radius		0.12 m
Air density		1.293 kg/m^3
Moment of inertia		9.5065E − 003 kgm^2
Moment of inertia		1.00E − 002 kg m^2
Moment of inertia		1.658E − 002 kgm^2
Blade	n	4
Battery capacity		5300 mAh
Battery resistance		0.01 Ω
Battery voltage		16.2 V
Max discharge rate		30C
Throttle command		0.8