Rapid software prototyping for real-time simulation and control of a mini-helicopter robot
نویسنده
چکیده
This paper presents a rapid software prototyping environment, based on Matlab/Simulink, for realtime simulation and control of a mini-helicopter robot. The application of the environment is illustrated with a software-in-the-loop simulation example. The environment is integrated by own modules (mini-helicopter simulation model, navigation filter, multirate control, filters) and modules based on Matlab toolboxes (ground control station, linearization, parameter identification, heuristic identification). The environment is being tested over a real system, where it is intended to reduce developing time and cost, giving to developer more time to focus on mathematical and algorithmic methods. Key-Words: Aerospace simulation, aircraft navigation, helicopter control, software-in-the loop, rapid prototyping
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