Benchmark: Quadrotor Attitude Control

16 pages•Published: December 17, 2015

Abstract

We present a case study of attitude control for a quadrotor and propose the application of reachability analysis to enhance the robustness of the control design.
The controller is to be implemented and tested using an experimental nano-quadrotor platform, the \emph{CrazyFlie}.
We intend to use measured data to improve the models employed in the reachability analysis and, therefore, enhance the reliability of the controller design.

Keyphrases: attitude control, control, quadrotor, reachability, spaceex, verification

In: Goran Frehse and Matthias Althoff (editors). ARCH14-15. 1st and 2nd International Workshop on Applied veRification for Continuous and Hybrid Systems, vol 34, pages 57-72.

Links:	https://easychair.org/publications/paper/mwnd
	https://doi.org/10.29007/dc68

BibTeX entry

@inproceedings{ARCH15:Benchmark_Quadrotor_Attitude_Control,
  author    = {A. E. C. Da Cunha},
  title     = {Benchmark: Quadrotor Attitude Control},
  booktitle = {ARCH14-15. 1st and 2nd International Workshop on Applied veRification for Continuous and Hybrid Systems},
  editor    = {Goran Frehse and Matthias Althoff},
  series    = {EPiC Series in Computing},
  volume    = {34},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2398-7340},
  url       = {/publications/paper/mwnd},
  doi       = {10.29007/dc68},
  pages     = {57-72},
  year      = {2015}}

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