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

Figure 13

System analysis via the Casimir function and Casimir power: (a) intersection points of the invariant ellipsoid and chaotic attractor with three equilibrium points; (b) intersection points with the invariant ellipsoid omitted; (c) the supremum ellipsoid of the QUAV attitude chaotic attractor.

(a)

(b)

(c)