Zonotopic Reachability Analysis for an Unmanned Helicopter

This paper presents a zonotopic reachability analysis for an unmanned helicopter, which is modeled as a linear time-invariant system and is stabilized using a linear quadratic controller. The reachability analysis is applied to determine future states of the helicopter flying under clean and icing conditions. An example of the reachability analysis is considered for the case where the unmanned helicopter is subject to a pitch-attitude-hold reference input.