Safety verification of model helicopter controller using hybrid input/output automata

Authors:
Sayan Mitra;Yong Wang;Nancy Lynch;Eric Feron
Affiliations:
MIT Laboratory for Computer Science, Cambridge, MA;MIT Laboratory for Information and Decision Systems, Cambridge, MA;MIT Laboratory for Computer Science, Cambridge, MA;MIT Laboratory for Information and Decision Systems, Cambridge, MA
Venue:
HSCC'03 Proceedings of the 6th international conference on Hybrid systems: computation and control
Year:
2003

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Abstract

This paper presents an application of the Hybrid I/O Automaton (HIOA) framework [12] in verifying a realistic hybrid system. A supervisory pitch controller for a model helicopter system is designed and then verified. The design of the supervisor is limited by the actuator bandwidth, the sensor inaccuracies, and the sampling rates. Verification is carried out by induction over the length of an execution of the composed system automaton. The HIOA model makes the inductive proofs tractable by decomposing them into independent discrete and continuous parts. The paper also presents a set of language constructs for specifying hybrid I/O automata.