Evaluation of a Switched Ethernet network for the control of a quadrotor

被引：0
|
作者：
Diouri, I. [1 ]
Berbra, C. [2 ]
Georges, J. -P. [1 ]
Gentil, S. [2 ]
Rondeau, E. [1 ]
机构：
[1] Nancy Univ, CNRS, Ctr Rech Automat Nancy, UMR 7039, BP 239, F-54506 Vandoeuvre Les Nancy, France
[2] CNRS INPG UJF, Comtrol Syst Dept, GIPSA Lab, F-38402 St Martin Dheres, France
来源：
2008 MEDITERRANEAN CONFERENCE ON CONTROL AUTOMATION, VOLS 1-4 | 2008年
关键词：
Networked Control System; Switched Ethernet; Control Area Network; scheduling policies; co-design; quadrotor; UAV; 4-rotor helicopter;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the co-design of a Networked Control System (NCS). The simulation of a 4-rotor helicopter using Matlab/Simulink is used as benchmark. The control law of this system is non linear and its observer uses data provided by an Inertial Measurement Unit. The controller and the rotors are interconnected by a Switched Ethernet network. The objective of this paper is firstly to analyze the effects of perturbations induced by the network on the helicopter control. Secondly, the goal is to tune the levels of Classification of Services (CoS) defined in such a network to minimize the impact of communications on the helicopter behavior. The network is simulated thanks to the TrueTime toolbox. A new TrueTime model enabling to represent the concept of CoS has been developed for achieving this study.
引用
收藏
页码：1665 / +
页数：2
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