Reachability analysis for a quadrotor UAV based on zonotopes

The issue of obtaining an optimal solution for a quadrotor UAV system is investigated in this paper for a set of initial states. The reachable set of states can be calculated if an initial set is given for a quadrotor system with disturbances. Moreover, the generated reference path is enclosed by zonotopes. The local linearization approach is employed to deal with the nonlinear system, while the linearization error is given in the form of Lagrange remainders which belongs to a zonotopic set. The effectiveness of the main results is illustrated by a quadrotor UAV example.