Design and hardware-in-the-loop test of the embedded control system of an indoor quadrotor helicopter

Kis, László; Regula, Gergely; Lantos, Béla

doi:10.1109/wises.2008.4623300

Cited by 17 publications

(8 citation statements)

References 6 publications

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“…The first version of the helicopter body was reported in [1], [2]. In 2008 the hardware-in-the-loop tests were successfully performed, which verified that the on-board MPC555 CPU can be programmed via Simulink to perform the backstepping control and extended Kalman filter algorithms together with CAN bus I/O in real time [3].…”

Section: Introductionmentioning

confidence: 92%

“…The quadrotor dynamic model described in the previous section is similar to that in this work. In [5], [2] and [3], a backstepping algorithm is applied to simplified helicopter dynamic model. These are the base of the algorithm that is presented in this section.…”

Section: Rotor Dynamicsmentioning

confidence: 99%

“…The control algorithm has evolved from the results of [5] and our research [3]. The algorithm presented in this part intends to exploit the advantages of two approaches, that are the ability to control a dynamic model with the least possible simplification and the good handling of measurement noises experienced in the case of our earlier algorithm based on [3].…”

Section: Applying a Backstepping Algorithm To The Helicoptermentioning

confidence: 99%

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Backstepping based control design with state estimation and path tracking to an indoor quadrotor helicopter

Regula¹,

Lantos²

2009

Per. Pol. Elec. Eng.

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The article focuses on different aspects (both theoretical and practical) of the development of the control algorithm of a quadrotor helicopter starting from the modelling phase. A new control algorithm is elaborated and supplementary components are described in detail including state estimation and path tracking. The helicopter's dynamic model takes into account the aerodynamic friction, the gyroscopic effect of the rotors and also the motor dynamics. The control algorithm is based on the backstepping approach and is capable of stabilising the model even in case of realistic noises. Vision system and on-board inertial measurement unit provide the measurements and two-level extended Kalman filter based state estimator is used to suppress the measurement noises and to estimate the unmeasured signals. The methods of the software development and real-time testing are also presented with attention to the sources of common errors.

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Section: Introductionmentioning

confidence: 92%

Section: Rotor Dynamicsmentioning

confidence: 99%

Section: Applying a Backstepping Algorithm To The Helicoptermentioning

confidence: 99%

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Backstepping based control design with state estimation and path tracking to an indoor quadrotor helicopter

Regula¹,

Lantos²

2009

Per. Pol. Elec. Eng.

Self Cite

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“…The two publications by Regula, Lantos and team start with the basic design of a miniature quad-rotor for indoor flights [35] [36]. They bring up a strong point for advancement which is the need for a decent network topology such as star, bus and mesh topology as we move into communication between multi-agent flights.…”

Section: B Indoor Navigationmentioning

confidence: 99%

A review of autonomous multi-agent quad-rotor control techniques and applications

Nathan

Almurib

Kumar

2011

2011 4th International Conference on Mechatronics (ICOM)

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The theory analysis of this review is applied to the task of controlling and maneuvering the quad-rotor. The singular four rotor flying vehicle is designed, optimized and applied to the expanded multi-agent system. This produces an evaluation and discussion of the most common and lesser known control laws used to navigate the vehicle as it performs basic translational and rotational motions. Related works based on the complexity of successful collision avoidance and formation between multi-agent quad-rotors is evaluated. A comparison is made between the advantages and disadvantages of each design to allow an understanding of the current research in the field of the multiagent four rotor flying vehicle. The achievements and applications of the intelligent multi-agent system are then addressed. Lastly, future prospects and challenges to overcome are suggested.

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“…One solution is to model the plant under control by adding the mathematical representations that is referred as plant simulation. Therefore, the embedded controller to be tested interacts with this plant simulation [7]- [9].…”

Section: Introductionmentioning

confidence: 99%

ASIC-in-the-loop methodology for verification of piecewise affine controllers

Martínez-Rodríguez

Brox

Castro

et al. 2012

2012 19th IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2012)

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Abstract-This paper exposes a hardware-in-the-loop methodology to verify the performance of a programmable and configurable application specific integrated circuit (ASIC) that implements piecewise affine (PWA) controllers. The ASIC inserted into a printed circuit board (PCB) is connected to a logic analyzer that generates the input patterns to the ASIC (in particular, the values to program the memories, configuration parameters, and values of the input signals). The output provided by the ASIC is also taken by the logic analyzer. A Matlab program controls the logic analyzer to verify the PWA controller implemented by the ASIC in open-loop as well as in closed-loop configurations.

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Design and hardware-in-the-loop test of the embedded control system of an indoor quadrotor helicopter

Abstract: The paper deals with the quick prototype design and hardware-in-the-loop real-

Cited by 17 publications

References 6 publications

Backstepping based control design with state estimation and path tracking to an indoor quadrotor helicopter

Backstepping based control design with state estimation and path tracking to an indoor quadrotor helicopter

A review of autonomous multi-agent quad-rotor control techniques and applications

ASIC-in-the-loop methodology for verification of piecewise affine controllers

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