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

fYear

2009

fDate

24-26 June 2009

Firstpage

516

Lastpage

521

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MED.2009.5164594

Filename

5164594