Hybrid priority scheme for networked control quadrotor

Cédric Berbra (1) , Sylviane Gentil (1) , Suzanne Lesecq (1)

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

This paper deals with the design and analysis of different priority schemes (static or hybrid), which can be used for the message scheduling in a networked control system. These policies are illustrated with a network controlled mechatronic system, namely a quadrotor. The quadrotor is controlled by an embedded microprocessor through a CAN network. The paper focuses on the problem of overload in the network and illustrates the results with Matlab/Simulink and Truetime simulations.

Mots clés: Message's scheduling.; Co-design; Data Loss; Message's scheduling; Networked Control System; Mechatronic System; UAV Quadrotor

Domaines: Automatique / Robotique

Cédric Berbra, Sylviane Gentil, Suzanne Lesecq. Hybrid priority scheme for networked control quadrotor. MED 2009 - 17th Mediterranean Conference on Control and Automation, Jun 2009, Thessaloniki, Greece. ⟨10.1109/MED.2009.5164594⟩. ⟨hal-00373532⟩