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Development of a test-bed to implement and validate real-time control strategies for aerial vehicles

Abstract:

Nowadays, there exist several platforms or experimental prototypes of aerial vehicles, most of them being specific for certain applications. The implementation of the control laws is, in most cases, restricted to given criteria and pre-established conditions defined by the commercial system (or the builder). In this paper, a new generic platform operating under Linux-RT, XtratuM and Partikle systems is introduced. Analyze, evaluate and improve the performance of future control embedded systems are the goals of the proposed platform. The platform is composed of a ground control unit (GCU) and an aerial system. In order to validate the platform, some experiments stabilizing the orientation and the altitude of the aircraft have been executed in free flight. The experimental results show the good performance and the robustness of the proposed control scheme. © 2011 IFAC.