Experimental Networked Embedded Mini Drone - Part II. Distributed FDI

Aneel Tanwani (1) , Sylviane Gentil (2) , Suzanne Lesecq (2) , Jean-Marc Thiriet (2)

1 GIPSA-lab - Grenoble Images Parole Signal Automatique
2 GIPSA-SA-IGA - GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance

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

Domaines: Automatique / Robotique

Aneel Tanwani, Sylviane Gentil, Suzanne Lesecq, Jean-Marc Thiriet. Experimental Networked Embedded Mini Drone - Part II. Distributed FDI. ECC 2007 - European Control Conference, Jul 2007, Kos, Greece. ⟨hal-00129459⟩