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Grenoble Images Parole Signal Automatique Collection effective à partir du 1er janvier 2007, date de création du laboratoire GIPSA-lab |
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Grenoble Images Parole Signal Automatique Collection effective à partir du 1er janvier 2007, date de création du laboratoire GIPSA-lab |
| HAL : hal-00129457, version 1 |
| Fiche détaillée |  Récupérer au format |
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| European Control Conference, ECC'07, Kos : Grèce (2007) |
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| Experimental Networked Embedded Mini Drone - Part I. Consideration of Faults |
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| Aneel Tanwani 1Jan Galdun 1 |
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| (07/2007) |
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| 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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| 1 : | Grenoble Images Parole Signal Automatique (GIPSA-lab) |
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CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology |
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| SA-IGA |
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| Domaine | : | Sciences de l'ingénieur/Automatique / Robotique |
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| Fault Diagnosis – Networked Control System – Embedded systems – 4-rotors helicopter. |
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| hal-00129457, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00129457 | |
| oai:hal.archives-ouvertes.fr:hal-00129457 | |
| Contributeur : Sylviane Gentil | |
| Soumis le : Mercredi 7 Février 2007, 15:12:34 | |
| Dernière modification le : Jeudi 29 Novembre 2012, 20:48:29 | |
