Analysis of Dynamic Mutation of A Quadrotor System Under Wind Disturbance

In this paper, the dynamic mutation of the quadrotor in the wind disturbance is studied in different flight conditions. Firstly, the nonlinear model and linear model of the quadrotor system in the presence of wind disturbance are established. Then, based on the linearization model at each equilibrium point, the dynamics of the quadrotor system are analyzed, including: relative degree, interactor matrix and high-frequency gain matrix, etc. The dynamic mutation characteristics of the quadrotor due to the change of flight conditions are given. Finally, the control problem caused by the dynamic mutation under multiple operating conditions is discussed. At the same time, based on the idea of system reconstruction, the preliminary solution is given, which lays a foundation for the subsequent controller design.