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Communication Dans Un Congrès Année : 2009

Quadrotor Attitude Control Through a Network with (m-k)-Firm Policy

Résumé

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 fault. The system and the network are simulated with Matlab/Simulink and TrueTime.
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Dates et versions

hal-00368831 , version 1 (17-03-2009)

Identifiants

  • HAL Id : hal-00368831 , version 1

Citer

Fermi Guerrero Castellanos, Cédric Berbra, Sylviane Gentil, Suzanne Lesecq. Quadrotor Attitude Control Through a Network with (m-k)-Firm Policy. ECC 2009 - European Control Conference, Aug 2009, Budapest, Hungary. ⟨hal-00368831⟩
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