Title :
Hybrid priority scheme for networked control quadrotor
Author :
Berbra, C. ; Gentil, S. ; Lesecq, S.
Author_Institution :
Control Syst. Dept., Gipsa-Lab., Martin d´´Heres, France
Abstract :
This paper deals with the design and analysis of different priority schemes (static or hybrid), which can be used for the message scheduling in a networked control system. These policies are illustrated with a network controlled mechatronic system, namely a quadrotor. The quadrotor is controlled by an embedded microprocessor through a CAN network. The paper focuses on the problem of overload in the network and illustrates the results with MatlPab/Simulink and Truetime simulations.
Keywords :
control engineering computing; controller area networks; helicopters; mechatronics; remotely operated vehicles; rotors; CAN network; UAV; embedded microprocessor; hybrid priority scheme; mechatronic system; message scheduling; networked control quadrotor; networked control system; Actuators; Automatic control; Communication system control; Control systems; Job shop scheduling; Microprocessors; Networked control systems; Processor scheduling; Stability; Unmanned aerial vehicles; Co-design; Data Loss; Mechatronic System; Message´s scheduling; Networked Control System; UAV Quadrotor;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164594
