Development of a test-bed to implement and validate real-time control strategies for aerial vehicles*

Berna, Andreu; Castillo, Pedro; Sanahuja, Guillaume; González, Fabio Alfonso; Garcia, Pedro Castillo; Albertos, Pedro

doi:10.3182/20110828-6-it-1002.02743

Cited by 2 publications

(1 citation statement)

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“…To prove the robustness of the proposed platform and to verify the behavior of some important parameters, a real-time analysis of the experiment can be done using the jitter performance evaluation tool (as reported in (Berna et al, 2011)). In fact, it is well known that certain values of the jitter can degrade the control performance and in extreme cases even cause instability of the closed-loop system, see (Stothert and MacLeod, 1998) (Shin and Cui, 1995).…”

Section: The Designed Platformmentioning

confidence: 99%

Developing Embedded Control Systems with XtratuM - Application to Control the Attitude of a Mini-helicopter

Garcia¹,

Albertos²,

Crespo³

et al. 2013

Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics

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Developing embedded control systems requires to have the possibility of analyzing and evaluating new control algorithms before their implementation in the final system as well as their robust operation once implemented. For that purpose, a generic platform composed by the hypervisor XtratuM and RTOS PaRTiKLe is introduced in this paper. The interaction between the user and the process is generated by using Linux, while the realtime execution of the process is ensured by PaRTiKLe. Moreover, hypervisor XtratuM provides the facilities to execute several partitions with different guest OSs as well as the mechanisms to communicate PaRTiKLe partition and the control environment. By means of this platform the performance of future partitioned embedded systems are analyzed, evaluated and improved. Experimental tests are carried out in order to prove the effectiveness of the system. The reported results show the good performance of the designed system and the robustness of the platform.

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Section: The Designed Platformmentioning

confidence: 99%