Hardware-in-the-loop simulation environment for testing of tilt-rotor UAV's control strategies

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dc.creatorArthur Viana Lara
dc.creatorIuro B. P. Nascimento
dc.creatorJanier Arias-Garcia
dc.creatorLeandro Buss Becker
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-04-10T14:42:20Z
dc.date.accessioned2025-09-08T23:05:02Z
dc.date.available2025-04-10T14:42:20Z
dc.date.issued2018
dc.identifier.doihttps://doi.org/10.20906/CBA2022/108
dc.identifier.urihttps://hdl.handle.net/1843/81448
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofXXII Congresso Brasileiro de Automática
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectControle automático
dc.subject.otherTilt-rotor UAV, Hardware-in-the-loop, Embedded systems, Robotic simulator, Control systems
dc.titleHardware-in-the-loop simulation environment for testing of tilt-rotor UAV's control strategies
dc.typeArtigo de evento
local.citation.epage7
local.citation.spage1
local.description.resumoThis paper presents a hardware-in-the-loop simulation environment for testing of control strategies for Unmanned Aerial Vehicles in Tilt-rotor configuration. This proposal consists of a distributed system composed by a general purpose computer, that runs the Gazebo simulator, and a stm32f4 discovery development board, that executes the control strategy. For instrumentation and reference data transfer it was developed a serial communication protocol that includes an error-detecting method for serial transmissions, which uses a checksum for accidental change detection in data transfer chains. Besides, it was created a dynamic library in order to provide an external channel with Gazebo Simulator to allow interaction between simulation and embedded system. Also it was designed a trajectory creator program to select the reference points to be reached by the control strategy, being either automatically or manually via joystick. Finally, the system is validated through simulation of a Tilt-rotor UAV being controlled by a DLQR strategy.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sba.org.br/open_journal_systems/index.php/cba/article/view/108

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