3 research outputs found
Formal verification of quadcopter flight envelop using theorem prover
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