Formal Verification of Quadcopter Flight Envelop Using Theorem Prover

Jasim, Omar A.; Veres, Sándor M.

doi:10.1109/ccta.2018.8511595

Cited by 5 publications

(11 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In this subsection, we will demonstrate the first stage of the verification framework shown in Fig. 1 using an attitude controller of a generic quadcopter UAV proposed in [31] with considering the assumptions and flight conditions made. In this proposed controller, the quadcopter's rotational dynamics are controlled using a robust nonlinear controller that takes into account the modelling uncertainty and external disturbances.…”

Section: Norm(x)mentioning

confidence: 99%

“…The set of def initions in the above code is a definition used to call all the pre-defined definitions in one step. We formalised the assumptions proposed in [31] as follow: Assumption 1 (Eq. 14 [31]),…”

Section: Interactive (Human-machine) Proofmentioning

confidence: 99%

“…Stability analysis of the attitude controller as stated in Eqs. 27-37 of [31] is implemented in Isabelle/HOL using a set of definitions, def inition, several lemmas, lemma, and short theorems in terms of theorem, theorem. This structure of using several lemmas and theorems during the proof is due to the fact that the reasoning system of the theorem prover cannot handle long proofs with many assumptions, i.e.…”

Section: Interactive (Human-machine) Proofmentioning

confidence: 99%

“…The proposed verification framework is applied to a control scheme of a generic quad-copter presented in [31], which consists of a nonlinear attitude controller to deal with modelling uncertainty and external disturbances that is designed using the well-known dynamic inversion technique [32,33]. Lyapunov's method [34] has been used as part of the attitude controller design and to analyse the system to ensure its stability.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Verification Framework for Control System Functionality of Unmanned Aerial Vehicles

Jasim,

Veres

2020

Preprint

Self Cite

View full text Add to dashboard Cite

A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies robustness requirements to ensure safe performance under varying environmental conditions. Extensive mathematical derivations, which have formerly been carried out manually, are checked for their correctness on a computer. To illustrate the proceedures, a higher-order logic interactive theorem-prover and an automated theorem-prover are utilized to formally verify a nonlinear attitude control system of a generic multi-rotor UAV over a stability domain within the dynamical state space of the drone. Further benefits of the proceedures are that some of the resulting methods can be implemented onboard the aircraft to detect when its controller breaches its flight envelop limits due to severe weather conditions or actuator/sensor malfunction. Such a detection procedure can be used to advise the remote pilot or an onboard intelligent agent to decide on some alterations of the planned flight path or to perform emergency landing.

show abstract

Section: Norm(x)mentioning

confidence: 99%

Section: Interactive (Human-machine) Proofmentioning

confidence: 99%

Section: Interactive (Human-machine) Proofmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Verification Framework for Control System Functionality of Unmanned Aerial Vehicles

Jasim,

Veres

2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Specifically, our aim is to provide a method of verifying the safety of controllers using satisfiability modulo theories (SMT) solving. Our work is in the spirit of [9,10], in which controllers for flight vehicles are designed, and the flight envelope and asymptotic stability of the controller are verified by the automated theorem prover MetiTarski. However, in these works, the design of the controllers is fairly specialized, and is closely tied together with how the controller's safety is verified.…”

Section: Introductionmentioning

confidence: 99%

Formal verification of octorotor flight envelope using barrier functions and SMT solving

Heersink,

Sylla,

Warren

2021

Preprint

View full text Add to dashboard Cite

This paper introduces an approach for formally verifying the safety of the flight controller of an octorotor platform. Our method involves finding regions of the octorotor's state space that are considered safe, and which can be proven to be invariant with respect to the dynamics. Specifically, exponential barrier functions are used to construct candidate invariant regions near desired commanded states. The proof that these regions are invariant is discovered automatically using the dReal SMT solver, which ensures the accurate command tracking of the octorotor to within a certain margin of error. Rotor failures in which rotor thrusts become stuck at fixed values are considered and accounted for via a pseudo-inverse control allocator. The safety of the control allocator is verified in dReal by checking that the thrusts demanded by the allocator never exceed the capability of the rotors. We apply our approach on a specific octorotor example and verify the desired command tracking properties of the controller under normal conditions and various combinations of rotor failures.

show abstract

Nonlinear Attitude Control Design and Verification for a Safe Flight of a Small-Scale Unmanned Helicopter

Jasim

Veres

2019

2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)

Self Cite

View full text Add to dashboard Cite

show abstract

Formal Verification of Quadcopter Flight Envelop Using Theorem Prover

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

Cited by 5 publications

References 14 publications

Verification Framework for Control System Functionality of Unmanned Aerial Vehicles

Verification Framework for Control System Functionality of Unmanned Aerial Vehicles

Formal verification of octorotor flight envelope using barrier functions and SMT solving

Nonlinear Attitude Control Design and Verification for a Safe Flight of a Small-Scale Unmanned Helicopter

Contact Info

Product

Resources

About