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

Daniel Simon 1, *
* Corresponding author
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.
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Submitted on : Friday, June 10, 2011 - 3:49:49 PM
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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, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 14 p. ⟨inria-00599685⟩

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