Co-Design of a Safe Network Control Quadrotor

Hardware in the loop networked control and diagnosis of a quadrotor dron

“…The resulting difference is thus insensitive to the faults in the sensor that is not used for the attitude estimation. The signature table obtained in this way is strongly isolable (Berbra et al [2008]). To choose more easily the thresholds to decide if the quaternion difference is not zero, this one is further transformed into the corresponding differences in the three attitude angles.…”

“…A loss of 10% of data from accx is considered. In (Berbra et al [2008]), a fault indicator has been proposed to make the difference between a sensor fault and a packet loss. This indicator is called r network and it is equal to 1 when the data is not received on time by the control and diagnostic modules (Fig.9, right).…”

A Bayesian network for diagnosis of networked mobile robots

“…In fact, the network state in term of quality of service QoS af-fects the system quality of control QoC. This influence is due to delay (Simon et al 2013), (Ghostine et al 2011), (Tipsuwan and Chow 2003), packets loss (Mechraoui et al 2009), (Lian et al 2002), (Berbra et al 2008), jitter (Moyne and Tilbury 2007), throughput (Zhang et al 2013), (Hespanha et al 2007) of the network and the connectivity degradation (Mechraoui et al 2011). So, it has been crucial to understand the impact of network failures on the system state and to consider them simultaneously with the control problems which characterize the co-design approach (Mechraoui et al 2011).…”

Hybrid fault diagnosis for telerobotics system

“…Comparison is realized through the simulation of a DC motor, where the control and the diagnosis algorithms are implemented under Matlab/Simulink and True Time software. Other Co-simulation approach is carried out on a system of quadrotor over the network is proposed in [14].…”