Experimental networked embedded mini drone - Part I. Consideration of faults

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 is implemented for flight control, 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 is simulated, including sensor, actuator or network induced faults.

[1]  Hao Ye,et al.  Fault diagnosis of networked control systems , 2007, Annu. Rev. Control..

[2]  Bruno Gaujal,et al.  Fault confinement mechanisms on CAN: analysis and improvements , 2005, IEEE Transactions on Vehicular Technology.

[3]  A. Tayebi,et al.  Attitude stabilization of a four-rotor aerial robot , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[4]  P. Barger,et al.  Effect of element initialization in synchronous networked control system to control quality , 2004, Annual Symposium Reliability and Maintainability, 2004 - RAMS.

[5]  Linda Bushnell,et al.  Stability analysis of networked control systems , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[6]  R. J. Patton,et al.  Reconfiguration in networked control systems: Fault tolerant control and plug-and-play , 2006 .

[7]  Dominique Sauter,et al.  DECENTRALIZED AND AUTONOMOUS DESIGN FOR FDI/FTC OF NETWORKED CONTROL SYSTEMS , 2006 .

[8]  Hao Ye,et al.  Fault diagnosis of networked control systems , 2006 .

[9]  Johan Nilsson,et al.  Stochastic Analysis and Control of Real-Time Systems with Random Time Delays , 1996 .

[10]  Feng-Li Lian,et al.  Network design consideration for distributed control systems , 2002, IEEE Trans. Control. Syst. Technol..

[11]  Peter F. Al-Hokayem.  Stability Analysis of Networked Control Systems , 2003 .

[12]  S. Lesecq,et al.  Experimental networked embedded mini drone - part II. distributed FDI , 2007, 2007 European Control Conference (ECC).

[13]  P. R. Kumar,et al.  New technological vistas for systems and control: the example of wireless networks , 2001 .

[14]  J.C.K. Chou,et al.  Quaternion kinematic and dynamic differential equations , 1992, IEEE Trans. Robotics Autom..

[15]  N. Marchand,et al.  A low-cost air data attitude heading reference system for the tourism airplane applications , 2005, IEEE Sensors, 2005..

[16]  James Moyne,et al.  Using deadbands to reduce communication in networked control systems , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[17]  Ping Zhang,et al.  FAULT DETECTION OF NETWORKED CONTROL SYSTEMS WITH LIMITED COMMUNICATION , 2006 .

[18]  Jean-François Aubry,et al.  Dependability Evaluation of Networked Control Systems Under Transmission Faults , 2006 .

[19]  Jin Jiang,et al.  Modelling of Vertical Gyroscopes with Consideration of Faults , 2007 .

[20]  Zafer Sahinoglu,et al.  Image Transmission over IEEE 802 . 15 . 4 and ZigBee Networks , 2005 .