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Verification Framework for Control System Functionality of Unmanned Aerial Vehicles

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Document pages: 22 pages

Abstract: A control system verification framework is presented for unmanned aerialvehicles using theorem proving. The framework s aim is to set out a procedurefor proving that the mathematically designed control system of the aircraftsatisfies robustness requirements to ensure safe performance under varyingenvironmental conditions. Extensive mathematical derivations, which haveformerly been carried out manually, are checked for their correctness on acomputer. To illustrate the proceedures, a higher-order logic interactivetheorem-prover and an automated theorem-prover are utilized to formally verifya nonlinear attitude control system of a generic multi-rotor UAV over astability domain within the dynamical state space of the drone. Furtherbenefits of the proceedures are that some of the resulting methods can beimplemented onboard the aircraft to detect when its controller breaches itsflight envelop limits due to severe weather conditions or actuator sensormalfunction. Such a detection procedure can be used to advise the remote pilotor an onboard intelligent agent to decide on some alterations of the plannedflight path or to perform emergency landing.

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