Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach

The Model-based development of robotics applications relies on the definition of models of the controls that abstract the computation and communication platform under the synchronous assumption. Computation, scheduling and communication delays can affect the performance of the controls in way that are possibly significant, and an early evaluation allows to select the best control compensation or the best HW/SW implementation platform. In this paper we show a case study of the application of the open T-Res framework, an environment for the co-simulation of controls and real-time scheduling, on a quadcopter model example, highlighting the possible tradeoffs in the selection of the scheduling strategy and priority assignment.