• Corpus ID: 235694206

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

@article{Heersink2021FormalVO,
  title={Formal verification of octorotor flight envelope using barrier functions and SMT solving},
  author={Byron Heersink and Pape Sylla and Michael A. Warren},
  journal={ArXiv},
  year={2021},
  volume={abs/2107.00612}
}
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… 

Figures and Tables from this paper

References

SHOWING 1-10 OF 32 REFERENCES

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

Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control

This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control, and employs an assume-guarantee formalism between these two subsystems, such that they can be considered individually.

Control Barrier Function Based Quadratic Programs for Safety Critical Systems

This paper develops a methodology that allows safety conditions—expression as control barrier functions—to be unified with performance objectives—expressed as control Lyapunov functions—in the context of real-time optimization-based controllers.

Safety Barrier Certificates for Collisions-Free Multirobot Systems

This paper presents safety barrier certificates that ensure scalable and provably collision-free behaviors in multirobot systems by modifying the nominal controllers to formally satisfy safety

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

  • Omar A. JasimS. Veres
  • Computer Science
    2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)
  • 2019
This paper proposes a robust control design and also introduces formal verification of control for small-scale unmanned helicopters based on dynamic inversion control for a 3-DOF attitude dynamics while taking into account the system modelling uncertainty with variable payloads and external disturbances of wind.

Barrier Functions in Cascaded Controller: Safe Quadrotor Control

This paper proposes a quadratic programming (QP) based approach on a cascaded control architecture for quadrotors to enforce safety and demonstrates the feasibility of the method on a quadrotor in simulation with static and dynamic constraints enforced on the position and velocity spaces simultaneously.

Control allocation for fault tolerant control of a VTOL octorotor

For the fault tolerant control of an eight-rotor VTOL Unmanned Air Vehicle (UAV), a control allocation scheme is proposed. The eight-rotor configuration provides actuator redundancy to ensure safe

Safe Teleoperation of Dynamic UAVs Through Control Barrier Functions

  • B. XuK. Sreenath
  • Engineering
    2018 IEEE International Conference on Robotics and Automation (ICRA)
  • 2018
The presented supervisory controller uses an Exponential control barrier function based quadratic program to achieve safe human teleoperated flight and can be used as an assistive training solution for novice pilots to begin flying quadrotors without crashing them.

Safe Learning of Quadrotor Dynamics Using Barrier Certificates

This paper presents a data-driven approach based on Gaussian processes that learns models of quadrotors operating in partially unknown environments that expands the barrier certified safe region based on an adaptive sampling scheme.

Sliding mode fault-tolerant control of an octorotor using linear parameter varying-based schemes

This study presents two fault-tolerant control (FTC) schemes for an octorotor UAV. The FTC schemes are based on an linear parameter varying system representation and utilises a combination of