Aircraft trajectory tracking when considering only the nested control laws
Multimedia attachment of the paper "Software-in-the-loop simulation for improving flight control system design: a quadrotor case study", accepted to be presented to the next 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC).
BebopS GitHub Repository,: https://github.com/gsilano/BebopS
Reference:
G. Silano, P. Oppido, L. Iannelli
Software-in-the-loop simulation for improving flight control system design: a quadrotor case study
2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
DOI: 10.1109/SMC.2019.8914154
PDF: https://giuseppesilano.net/publicatio...
G. Silano, P. Oppido, L. Iannelli
Software-in-the-loop simulation for improving flight control system design: a quadrotor case study
Automatica.it 2019, Ancona, Italy
DOI: http://doi.org/10.13140/RG.2.2.31583....
PDF: https://giuseppesilano.net/publicatio...
Abstract:
Simulation is a standard approach used for designing complex systems like the flight controller in multi-rotor vehicles. In this paper we illustrate how the software-in-the-loop (SIL) methodology allows to detect and manage instabilities of a quadrotor control system that otherwise might not arise when considering only Matlab/Simulink simulations.
The use of the SIL technique allows to understand the behavior of the flight control system by comparing and evaluating different scenarios, with a details level quite close to reality. At the same time, it is possible to discover issues that a model-in-the-loop (MIL) simulation does not necessarily detect, even if carried out through a multi-physics co-simulation approach.
The paper aims to give the reader a practical and concrete evidence of such considerations through the case study of a micro quadrotor.
Description:
In this video, the Parrot Bebop 2, the quadrotor employed as use case study, performs a trajectory tracking when considering only the nested control laws.