Developing Embedded Control Systems with XtratuM - Application to Control the Attitude of a Mini-helicopter

P. García, P. Albertos, A. Crespo, F. González

2013

Abstract

Developing embedded control systems requires to have the possibility of analyzing and evaluating new control algorithms before their implementation in the final system as well as their robust operation once implemented. For that purpose, a generic platform composed by the hypervisor XtratuM and RTOS PaRTiKLe is introduced in this paper. The interaction between the user and the process is generated by using Linux, while the realtime execution of the process is ensured by PaRTiKLe. Moreover, hypervisor XtratuM provides the facilities to execute several partitions with different guest OSs as well as the mechanisms to communicate PaRTiKLe partition and the control environment. By means of this platform the performance of future partitioned embedded systems are analyzed, evaluated and improved. Experimental tests are carried out in order to prove the effectiveness of the system. The reported results show the good performance of the designed system and the robustness of the platform.

Paper Citation

in Harvard Style

García P., Albertos P., Crespo A. and González F. (2013). Developing Embedded Control Systems with XtratuM - Application to Control the Attitude of a Mini-helicopter . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 434-441. DOI: 10.5220/0004484504340441

in Bibtex Style

@conference{icinco13,
author={P. García and P. Albertos and A. Crespo and F. González},
title={Developing Embedded Control Systems with XtratuM - Application to Control the Attitude of a Mini-helicopter},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={434-441},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004484504340441},
isbn={978-989-8565-70-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Developing Embedded Control Systems with XtratuM - Application to Control the Attitude of a Mini-helicopter
SN - 978-989-8565-70-9
AU - García P.
AU - Albertos P.
AU - Crespo A.
AU - González F.
PY - 2013
SP - 434
EP - 441
DO - 10.5220/0004484504340441