Abstract : This paper deals with a networked embedded system. The studied prototype is a 4 rotors mini-drone (helicopter) equipped with an attitude central for system positioning, made of 3 rate gyros, 3 accelerometers and 3 magnetometers. A mathematical model of the drone has been integrated within an observer (for attitude estimation) and a control law is implemented for flight control, thus forming a closed loop system. Its fault free behavior is used as a reference for further analyses. Several possible network technologies are compared. The influence of several types of faults is simulated, including sensor, actuator or network induced faults.

Keywords : Fault Diagnosis, Networked Control System, Embedded Systems, 4 rotors helicopter.

Abstract : 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.

Keywords : Fault Diagnosis, Embedded System, Generalized Observer Scheme Residual Generation, Distributed Computer Control System, Network Topology, Drones.