Zonotopic Reachability Analysis of Multirotor Aircraft

Delansnay, Gilles; Vande Wouwer, Alain; Harno G., Hendra; Yoonsoo, Kim

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Zonotopic Reachability Analysis of Multirotor Aircraft

Delansnay, Gilles; Vande Wouwer, Alain; Harno G., Hendra et al.

2021 • In 2021 25th International Conference on System Theory, Control and Computing (ICSTCC)

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https://hdl.handle.net/20.500.12907/41143

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Keywords :

Drone; Multi rotor aircraft; Safe Flight Envelope

Abstract :

[en] Abstract-In this work, the reachability analysis of a multirotor aircraft is developed using a zonotopic reachability algorithm, and the results are compared to a Monte Carlo simulation approach. To illustrate this study, a Parrot Mambo minidrone is considered, for which a complete nonlinear Simulink model is available. To achieve the reachability analysis, the closed-loop system can be approximated by a linear invariant system that can easily be exploited. In this way, forward and backward reachable sets can be evaluated and intersected. We determine that only the short-term analysis is necessary as the system is closed-loop and stabilized. For the Monte Carlo simulation analysis, on the other hand, both the original nonlinear model or its linear approximation can be used and we show equivalent results. This study is a preliminary step towards the analysis of upset flight conditions of multirotor aircrafts.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Delansnay, Gilles ; Université de Mons > Faculté Polytechnique > Service Systèmes, Estimation, Commande et Optimisation

Vande Wouwer, Alain ; Université de Mons > Faculté Polytechnique > Service Systèmes, Estimation, Commande et Optimisation

Harno G., Hendra

Yoonsoo, Kim

Language :

English

Title :

Zonotopic Reachability Analysis of Multirotor Aircraft

Publication date :

18 November 2021

Event name :

25th International Conference on System Theory, Control and Computing

Event place :

Iasi, Romania

Event date :

2021

Journal title :

2021 25th International Conference on System Theory, Control and Computing (ICSTCC)

Peer reviewed :

Peer reviewed

Research unit :

F107 - Systèmes, Estimation, Commande et Optimisation

Research institute :

R200 - Institut de Recherche en Energie

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since 31 August 2021

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