Quadrotor attitude control through a network with (m-k)-firm policy.

José-Fermi Guerrero-Castellanos,Cedric Berbra,Sylviane Gentil,Suzanne Lesecq

Control Conference（2009）

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摘要

This paper deals with the design and analysis of an (m-k)-firm control policy applied to a network controlled mechatronic system, namely a quadrotor. The quadrotor is controlled by an embedded microprocessor through a network. The paper focuses on the problem of packet drops in the network. An (m-k)-firm policy requires that at any time, at least m packets among any k consecutive ones must be received. This is applied to the LQ control of the quadrotor. The paper details the choice of k and m and shows that with this policy the system is robust to network packet loss. The system and the network are simulated with Matlab/Simulink and TrueTime.

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关键词

aircraft control,attitude control,control engineering computing,digital simulation,helicopters,linear quadratic control,microprocessor chips,(m-k)-firm control policy,lq control,matlab-simulink,truetime,embedded microprocessor,network controlled mechatronic system,network packet loss,quadrotor,quadrotor attitude control,(m-k)-firm network supervision,data loss,mechatronic system,network control system,uav quadrotor,packet loss,sensors,stability analysis,cost function,actuators

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