Event-based control for embedded and networked system application to a mini quadrotor helicopter using motion capture

Although periodicity simplifies design and analysis in control theory, it is no more adapted for embedded and networked cyber-physical systems because it results in a conservative usage of resources. Indeed, the control signal is computed and updated at the same rate regardless whether is really required or not, and is periodically sent on the communication link. On the other hand, event-driven sampling calls for resources whenever they are indeed necessary. An event-based controller is proposed in this paper as a solution to reduce the updates from the controller to the plant. An event-based corrector is also added to reduce the communications from the plant to the controller. The approach is tested for controlling the position of a real-time mini quadrotor helicopter using a motion capture system with deported controller. A reduction of the computing/communication resources utilization is highly demonstrated for similar final performance.