Jasim, O. and Veres, S.M. (2018) Formal verification of quadcopter flight envelop using theorem prover. In: Proceedings of 2018 IEEE Conference on Control Technology and Applications (CCTA). 2nd IEEE Conference on Control Technology and Applications (CCTA 2018), 21-24 Aug 2018, Copenhagen, Denmark. IEEE , pp. 1502-1507. ISBN 978-1-5386-7698-1
Abstract
Quadcopter controllers are in use today and in practice they can often cope well in non adverse weather conditions such as lack of strong sudden gusts of wind around the corner of a building or no frequent demands of travel directions by remote control or a guidance law. Different payloads can alter the boundaries of the stable state space region of a drone, its flight envelop, beyond which its autopilot may not be able to regain stable control of the craft. For fixed gain autopilot controllers, reaching the boundary of the flight envelop can be caused by (1) external disturbance like gusts of wind and turbulence, (2) altered drone mass and its distribution and (3) reduction or misalignment of thrust output in the propulsion system caused ware after multiple uses of the drone. This paper introduces symbolic computation to map out the numerical boundaries of controller tolerances in terms of these three factors that affect the autopilots ability to retain stability of the craft. Proof theoretic methods are developed that can be applied to quadcopter of various nominal parameters.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Vehicle dynamics; Control systems; Asymptotic stability; Stability analysis; Drones; Robust control; Software |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 17 Aug 2018 11:00 |
Last Modified: | 05 Dec 2018 15:41 |
Published Version: | https://doi.org/10.1109/CCTA.2018.8511595 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/CCTA.2018.8511595 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:134664 |