Experimental Networked Embedded Mini Drone - Part I. Consideration of Faults - Département Automatique Accéder directement au contenu
Communication Dans Un Congrès Année : 2007

Experimental Networked Embedded Mini Drone - Part I. Consideration of Faults

Résumé

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 (for flight control) is implemented, 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, including sensor, actuator or network induced faults is simulated.
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Dates et versions

hal-00129457 , version 1 (07-02-2007)

Identifiants

  • HAL Id : hal-00129457 , version 1

Citer

Aneel Tanwani, Jan Galdun, Jean-Marc Thiriet, Suzanne Lesecq, Sylviane Gentil. Experimental Networked Embedded Mini Drone - Part I. Consideration of Faults. ECC 2007 - European Control Conference, Jul 2007, Kos, Greece. ⟨hal-00129457⟩
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