Co-design of a safe networked control quadrotor

Cédric Berbra (1) , Suzanne Lesecq (1) , Sylviane Gentil (1) , Jean-Marc Thiriet (1)

1 GIPSA-SA-IGA - GIPSA - Signal et Automatique pour le Diagnostic et la Surveillance

This paper deals with the co-design of a Network Control System (NCS) and its diagnosis. Residuals are shown to be affected by network packet losses. A new indicator, sensitive to packet losses is proposed and thus changes in the residuals due to faults or to packet losses can be differentiated. Results are exemplified through the simulation of a 4-rotor helicopter using the Matlab/Simulink standard. The network is simulated thanks to the TrueTime toolbox.

Mots clés: Fault Detection and Isolation; Fault Tolerance; Network Control System; Co-design; quadrotor; UAV; 4-rotor helicopter

Domaines: Automatique / Robotique

Cédric Berbra, Suzanne Lesecq, Sylviane Gentil, Jean-Marc Thiriet. Co-design of a safe networked control quadrotor. IFAC WC 2008 - 17th IFAC World Congress, Jul 2008, Séoul, South Korea. ⟨hal-00288860⟩