Experimental networked embedded mini drone - Part I. Consideration of faults

Author

Tanwani, A. ; Galdun, J. ; Thiriet, J.-M. ; Lesecq, S. ; Gentil, S.

Author_Institution

Univ. of Illinois at Urbana Champaign, Urbana, IL, USA

fYear

2007

fDate

2-5 July 2007

Firstpage

4332

Lastpage

4337

Abstract

This paper deals with a networked embedded system. The studied prototype is a 4 rotors mini-drone (helicopter) equipped with an attitude central for system positioning, made of 3 rate gyros, 3 accelerometers and 3 magnetometers. A mathematical model of the drone has been integrated within an observer (for attitude estimation) and a control law is implemented for flight control, thus forming a closed loop system. Its fault free behavior is used as a reference for further analyses. Several possible network technologies are compared. The influence of several types of faults is simulated, including sensor, actuator or network induced faults.

Keywords

aircraft control; attitude control; closed loop systems; control system synthesis; fault diagnosis; helicopters; networked control systems; observers; rotors; 4 rotors minidrone; accelerometer; actuator; attitude central; attitude estimation; closed loop system; flight control; gyros; helicopter; magnetometer; network induced fault; networked embedded system; observer; sensor; Actuators; Delays; Ethernet networks; Magnetometers; Mathematical model; Quaternions; Rotors; 4 rotors helicopter; Embedded Systems; Fault Diagnosis; Networked Control System;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068615