The effect of wind disturbances on the stability of six-rotor unmanned aerial vehicles (UAVs) was investigated, exploring the various disturbances in different directions. The simulation model-based Euler–Poincare equation was established to investigate the spectra of Lyapunov exponents. Next, the value of the Lyapunov exponents was used to evaluate the stability of the systems. The results obtained show that the various speeds of rotors are optimized to keep up the stability after disturbances. In addition, the flight experiment with the hitting gust has been carried out to verify the validity and accuracy of the simulation results.

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