@inproceedings{pecker-marcosig_hybrid_2017,

title = {Hybrid adaptive control for UAV data collection: A simulation-based design to trade-off resources between stability and communication},

author = {Ezequiel Pecker-Marcosig and Juan I. Giribet and Rodrigo Castro},

doi = {10.1109/WSC.2017.8247909},

issn = {08917736},

year  = {2017},

date = {2017-01-01},

booktitle = {Proceedings - Winter Simulation Conference},

pages = {1704–1715},

publisher = {Institute of Electrical and Electronics Engineers Inc.},

abstract = {We present the design of a hybrid control system for an Unmanned Aerial Vehicle (UAV) used for data collection from wireless sensors. We postulate a restrictive scenario where a low-cost processor is in charge of both flying the UAV and resolving data communication. This raises the need for safe trade-off of computing resources between stability and throughput, adapting to unpredictable environment changes. We present a strategy where a supervisory controller implements an adaptive relaxation of the sampling period of the UAV regulation controller to favor communication tasks. To guarantee stability under period switching we update the discrete-time control law with suitable gains. The resulting system comprises continuous, discrete-time and discrete-event dynamics, including event-based adaptation of the discrete-time controller. We show how the DEVS modeling and simulation framework can support a full simulation-based design, verification and validation process, featuring a seamless composition of the underlying hybrid domains.},

keywords = {DEVS, Hybrid systems, QSS, UAV},

pubstate = {published},

tppubtype = {inproceedings}

}