Vignesh Kumar Chandhrasekran
ABSTRACT
This paper presents the design, simulation and real-time implementation of a control system for an autonomous mini-helicopter using
QNX operating system with PC104 embedded board. The reliability of embedded computer systems can be difficult to analyze for several reason. In the development of unmanned vehicle initially it was much focused on military application to civilian application which has many issues in precise design and development cost. The rapid development in digital technology and Real-time embedded control system has been widely applied in various industrial fields. This includes developing flight test prototype and test articles early in the system life cycle to gain real experience and determine the real function such that the ultimate design leads to the correct development of the product. The flight operation and guidance for navigation can be developed early in the program to support the testing without any human intervention. Hardware in loop technique is a real time simulation where the input and output signals of the simulator show the same time dependent values as the real process. The GPS data and sensor real-time data in the HILS is fed into the closed loop of the control system which helps to tune and test the control system to directly fit into the UAV on real-time.
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Index Terms
- Hardware-in-the-Loop simulation of UAV non-linear control system of mini-helicopter
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