Quadrotor attitude control through a network with (m-k)-firm policy

Author

Guerrero-Castellanos, J.F. ; Berbra, C. ; Gentil, S. ; Lesecq, S.

Author_Institution

Fac. of Electron., Autonomous Univ. of Puebla, Puebla, Mexico

fYear

2009

fDate

23-26 Aug. 2009

Firstpage

3863

Lastpage

3868

Abstract

This paper deals with the design and analysis of an (m-k)-firm control policy applied to a network controlled mechatronic system, namely a quadrotor. The quadrotor is controlled by an embedded microprocessor through a network. The paper focuses on the problem of packet drops in the network. An (m-k)-firm policy requires that at any time, at least m packets among any k consecutive ones must be received. This is applied to the LQ control of the quadrotor. The paper details the choice of k and m and shows that with this policy the system is robust to network packet loss. The system and the network are simulated with Matlab/Simulink and TrueTime.

Keywords

aircraft control; attitude control; control engineering computing; digital simulation; helicopters; linear quadratic control; microprocessor chips; (m-k)-firm control policy; LQ control; Matlab-Simulink; TrueTime; embedded microprocessor; network controlled mechatronic system; network packet loss; quadrotor; quadrotor attitude control; Actuators; Attitude control; Cost function; Packet loss; Sensors; Stability analysis; (m-k)-firm Network Supervision; Data Loss; Mechatronic System; Network Control System; UAV Quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2009 European

Conference_Location

Budapest

Print_ISBN

978-3-9524173-9-3

Type

conf

Filename

7075002