부산대학교 도서관

Embedded systems constitute a category whose safety is critical and where FDI real time constraints are particularly important. Embedded algorithms must be the simplest as possible and computations may be distributed between the embedded system and a more powerful distant computer. This paper proposes a bank of observers to diagnose faults of a small helicopter controlled in closed loop. The studied prototype is a 4 rotors mini-drone equipped with an attitude central for system positioning, made of 3 rate gyros, 3 accelerometers and 3 magnetometers. A dedicated network architecture is proposed.