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

Jasim, Omar A.; Veres, Sándor M.

doi:10.1109/codit.2019.8820310

Cited by 4 publications

(2 citation statements)

References 20 publications

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“…In the simulation this meant that the craft was unable to compensate against the external wind and caused the craft unable to follow its prescribed flight path. For more details, see our previous work [47]. In such a situation the pilot, or autonomous agent, may decide not to insist on the planned flight path and make the most of the developing situation to save the craft by replanning.…”

Section: A Case Study: Multi-rotor Verificationmentioning

confidence: 99%

Verification framework for control theory of aircraft

Jasim

Veres

2022

Aeronaut. j.

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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 procedures, a higher-order logic interactive theorem-prover and an automated theorem-prover are utilised 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 procedures are that some of the resulting methods can be implemented onboard the aircraft to detect when its controller breaches its flight envelope 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.

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Section: A Case Study: Multi-rotor Verificationmentioning

confidence: 99%

Verification framework for control theory of aircraft

Jasim

Veres

2022

Aeronaut. j.

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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

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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.

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Formal Verification of Octorotor Flight Envelope Using Barrier Functions and Satisfiability Modulo Theories Solving

Heersink

Sylla

Warren

2022

IEEE Control Syst. Lett.

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

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

Cited by 4 publications

References 20 publications

Verification framework for control theory of aircraft

Verification framework for control theory of aircraft

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

Formal Verification of Octorotor Flight Envelope Using Barrier Functions and Satisfiability Modulo Theories Solving

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