Zonotopic Reachability Analysis of Multirotor Aircraft

Abstract

In this work, the reachability analysis of a multi rotor 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. ? 2021 IEEE.