Distributed FDI of a networked embedded microdrone

Aneel Tanwani (1) , Sylviane Gentil (1) , Suzanne Lesecq (1) , Jean-Marc Thiriet (1)

1 LAG - Laboratoire d'automatique de Grenoble

Embedded systems constitute a category whose safety is critical and where FDI real time constraints are particularly important. Embedded algorithms must be the simplest possible and computations may be distributed between the embedded system and a more powerful distant computer. This paper proposes a bank of observers to diagnose faults of a small helicopter controlled in closed loop. The studied prototype is a 4 rotors mini drone equipped with an attitude central for system positioning, made of 3 gyroscopes, 3 accelerometers and 3 magnetometers. A dedicated network architecture is proposed.

Mots clés: Distributed computer control system; Fault Diagnosis; Embedded system; Generalized Observer Scheme Residual Generation; Network Topology; Drones

Domaines: Automatique / Robotique

Aneel Tanwani, Sylviane Gentil, Suzanne Lesecq, Jean-Marc Thiriet. Distributed FDI of a networked embedded microdrone. Workshop on Advanced Control and Diagnosis, ACD'2006, Nov 2006, nancy, France. 6 p. ⟨hal-00125498⟩