HiL evaluation of an on-chip-based optimal H&lt;inf&gt;&amp;#x221E;&lt;/inf&gt; controller on the stability of a MAV in flight simulation

Sampaio, Rafael C. B.; Cazarini, Eduardo; Hernandes, Andre C.; Becker, Marcelo; Magalhães, Daniel Varela; Siqueira, Adriano A. G.

doi:10.1109/aero.2014.6836424

Cited by 1 publication

(2 citation statements)

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“…For the reasons enumerated in [7], in the previous version the platform migrated to Borland Delphi 7.0. The FVMS 3.0 follows the basic concepts of previous architecture and class diagrams.…”

Section: B Fvms 30mentioning

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: B Fvms 30mentioning

confidence: 99%

“…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. In [7] the FVMS is used in a Hardware in the loop (HiL) controller.…”

Section: Introductionmentioning

confidence: 99%