Unmanned aerial vehicles (UAVs) are safety-critical systems that often need to fly near buildings and over people under adverse wind conditions and hence require high manoeuvrability, accuracy, fast response abilities to ensure safety. Under extreme conditions, the dynamics of these systems are strongly nonlinear and are exposed to disturbances, which need a robust controller to keep the UAV and its environment safe. In this paper a novel robust nonlinear multi-rotor controller is introduced based on essential modifications of standard dynamic inversion control, which makes it insensitive to payload changes and also to large wind gusts. First a robust attitude controller is

This is a repository copy of Formal verification of quadcopter flight envelop using theorem prover.

Control theory can establish properties of systems which hold with all signals within the system and hence cannot be proven by simulation. The most basic of such property is the stability of a control subsystem or the overall system. Other examples are statements on robust control performance in the face of dynamical uncertainties and disturbances in sensing and actuation. Until now these theories were developed and checked for their correctness by control scientist manually using their mathematical knowledge. With the emergence of formal methods, there is now the possibility to derive and prove robust control theory by symbolic computation on computers. There is a demand for this approach from industry for the verification of practical control systems with concrete numerical values where the applicability of a control theorem is specialised to an application with given numerical boundaries of parameter variations. The paper gives an overview of the challenges of the area and illustrates them on a computer-based formal proof of the Small-gain theorem and conclusions are drawn from these initial experiences.

This is a repository copy of Nonlinear attitude control design and verification for a safe flight of a small-scale unmanned helicopter.

In order to determine the most suitable composite coatings to inhibit corrosion inthe oil tanks, the protection method was studied by the method of multiple layers ofprotection. Where there were three layers of protection, the base layer is a phosphateprocess using zinc phosphate, the second layer is a base painting (Hydrazine Hydratewith an epoxy zinc coating), while the top layer was a composite coating matrix ofunsaturated polyester and epoxy supported by different fraction weight ofnanomaterials. The top layer was supported by nano kaolin with 1% weight fraction,nano magnesium oxide with 3% weight fraction and nano zinc oxide with 5% weightfraction. The three layers were painted on metal pieces (1.5cm*1.5cm) of corrodedtanks used to store diesel fuel. The hardness of the metal parts was studied before andafter the phosphate process, where the results showed that the sample surface hardnesswas 123 HB and after the phosphate process was 131 HB.The chemical corrosion and electrochemical corrosion test were carried out for agroup of samples that were painted only once with a topcoat and again with three layersof paint. The results showed that the best protection against corrosion is the sample thatpainted with three layers of coating, and the top coating supported by a nanomagnesium oxide, it has lowest corrosion current value (162.59 nA/cm2). Furthermore,the adhesion test showed that the coating supported by nanomaterials have higher adhesion strength than those that are not supported by nanomaterials. Where the highestadhesion strength was (776 Psi) for magnesium oxide nanoparticle coating.