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

Daniel Simon (1)

1 NECS - Networked Controlled Systems

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.

Domaines: Robotique [cs.RO]

Daniel Simon. Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad. CAR 2011 - 6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. 14 p. ⟨inria-00599685⟩