FVMS: A novel SiL approach on the evaluation of controllers for autonomous MAV

Sampaio, Rafael C. B.; Becker, Marcelo; Siqueira, Adriano A. G.; Freschi, Leonardo W.; Montanher, Marcelo P.

doi:10.1109/aero.2013.6497415

Cited by 9 publications

(6 citation statements)

References 7 publications

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“…It is an extension of class SENSOR from previous versions, emulating GPS, IMU, Gyro, altimeters and other sensoring devices present in a real UAV. As discussed in [6], MSFS reproduces real sensors affected by noisy influence of disturbing environmental conditions.…”

Section: Navigationmentioning

confidence: 97%

“…It enables full duplex communication between MS Flight Simulator and FVMS. In [6], the authors demonstrate that FSUIPC provides reliable communication for frequencies up to 250Hz. More information about the DLL can be found in [3].…”

Section: Fsuipcmentioning

confidence: 98%

“…Although relatively recent, the platform has shown great potential. In [6] the FVMS architecture and potentialities are highlighted. The authors in [8] detail the development an optimal MIMO H ∞ robust controller to stabilize the attitude of a quadcopter, as well as any other flying machine.…”

Section: Introductionmentioning

confidence: 99%

“…Within this context, the ART Team proposed at Aeroconf 2013 the Flight Variables Management System (FVMS) [6]. This Delphi based custom Graphical User Interface (GUI) platform allows SiL simulation using flying dynamics of Microsoft Flight Simulator 2004 (MSFS04).…”

Section: Introductionmentioning

confidence: 99%

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FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance, Navigation and Control

Rodrigues¹,

Sampaio²,

Aguiar³

et al. 2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

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This paper proposes a new and powerful methodology to the evaluation of guidance, navigation and control algorithms (GNC) in Software-in-the-Loop (SiL) flight simulation using Microsoft Flight Simulator (MSFS). The SiL was assisted by the Flight Variables Management System (FVMS), a Graphic User Interface (GUI) that fully interfaces communication between MSFS and general purpose custom GNC algorithms. The originality of this new approach is to make the FVMS communication layer completely transparent to the designer so that full attention may be focused exclusively on guidance algorithm development and the debugging process as well. Furthermore, the application may be extended to both multi-engine fixed and rotary wing aircraft. When it comes to the design, development and validation of brand new control algorithms of GNC for unmanned systems, SiL flight simulation becomes an exceedingly useful tool since end-product may misbehave in-flight. It impacts over avoiding hazard situation of crew and population in the ground and on preserving expensive equipment of being damaged. To illustrate FVMS capabilities and assets on GNC systems design, a nonlinear path following algorithm is set up. FVMS GNC module is endowed with a full map interface and a mission management through which one may build/rebuild the UAV path on-line. The results demonstrate the potential of the framework on the implementation of either simple or more complex solutions for the GNC problem.

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Section: Navigationmentioning

confidence: 97%

Section: Fsuipcmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance, Navigation and Control

Rodrigues¹,

Sampaio²,

Aguiar³

et al. 2014

2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol

Self Cite

View full text Add to dashboard Cite

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“…In what follows, Flight Variables Management System (FVMS) -the GUI (Graphic User Interface) that makes SiL simulation possible -and its architecture are briefly outlined in Section II [11]. Section III tackles MAV stabilization problem as well as presents the complete model of the Pelican quadrotor.…”

Section: Introductionmentioning

confidence: 99%

Optimal H<inf>∞</inf> controller on the stability of MAVs in a novel Software-in-the-Loop control platform

Sampaio

Becker

Siqueira

et al. 2013

2013 IEEE International Conference on Industrial Technology (ICIT)

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This paper presents a novel Software-in-the-Loop (SiL) evaluation of an optimal H∞ robust controller on the stability problem of MAVs (Micro Aerial Vehicles) in the quadrotor configuration, whose originality is to employ c Ascending Technologies Pelican MAV. The synthesis of the robust controller is grounded by the γ-iteration algorithm, which results in a MIMO optimal controller bounded by an attenuation level. The core of SiL platform, a customized C++/C# software named FVMS (Flight Variables Management System), developed by ART (Aerial Robots Team) at USP/EESC, is able to deal with full duplex communication to c Microsoft Flight Simulator (MSFS). In turn, MSFS acts as the virtual environment through which a complete dynamic and graphic model of the Pelican MAV can be configured and emulated. Since FVMS can fully reach every variable related to the simulated MAV, the optimal H∞ control algorithm can be implemented for evaluation in SiL simulation. Hence, the stability of the Pelican MAV can be observed. Regarding MAVs control evaluation, SiL simulation potentially contributes to save battery time, to ease control synthesis and prototyping and to prevent accidents during tests with the real robot. Results of Pelican stabilization in SiL simulation in hovering mode are presented and discussed.

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Novel SiL evaluation of an optimal H<inf>∞</inf> controller on the stability of a MAV in flight simulator

Sampaio

Becker

Siqueira

et al. 2013

2013 IEEE Aerospace Conference

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FVMS: A novel SiL approach on the evaluation of controllers for autonomous MAV

Cited by 9 publications

References 7 publications

FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance, Navigation and Control

FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance, Navigation and Control

Optimal H<inf>∞</inf> controller on the stability of MAVs in a novel Software-in-the-Loop control platform

Novel SiL evaluation of an optimal H<inf>∞</inf> controller on the stability of a MAV in flight simulator

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FVMS: A novel SiL approach on the evaluation of controllers for autonomous MAV

Cited by 9 publications

References 7 publications

FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance, Navigation and Control

FVMS Software-in-the-Loop Flight Simulation Experiments: Guidance, Navigation and Control

Optimal H<inf>&#x221E;</inf> controller on the stability of MAVs in a novel Software-in-the-Loop control platform

Novel SiL evaluation of an optimal H<inf>&#x221E;</inf> controller on the stability of a MAV in flight simulator

Contact Info

Product

Resources

About

Optimal H<inf>∞</inf> controller on the stability of MAVs in a novel Software-in-the-Loop control platform

Novel SiL evaluation of an optimal H<inf>∞</inf> controller on the stability of a MAV in flight simulator