Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad

Daniel Simon 1, *
* Auteur correspondant
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : During the development of control systems, hardware-in-the-loop (HIL) takes place between design level simulations and costly experiments with the real plant. In this particular experiment the controller is designed under Orccad, as a set of multi-rate tasks, allowing for testing weakly hard scheduling schemes. The controller is embedded on a microcontroller synchronized via a CAN bus to a mini-drone simulator. Observing the simulation traces helps to tune the control design, and avoid crashing down the real system in early testing.
Type de document :
Communication dans un congrès
6th National Conference on Control Architectures of Robots, May 2011, Grenoble, France. 14 p., 2011
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Daniel Simon. Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad. 6th National Conference on Control Architectures of Robots, May 2011, Grenoble, France. 14 p., 2011. 〈inria-00599685〉

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