Adaptive switching controllers for systems with hybrid communication protocols

Abstract

Abstract-Cyber-Physical Systems (CPS) are ubiquitous, motivated by the need to integrate control, computing, and communication, increasing capabilities and declining costs of the underlying technologies, and increased requirements on safety, reliability, and performance. The focus of this paper is the co-design of hybrid communication protocol and adaptive switching control that enables stabilization of multiple control applications using minimal communication resources. The hybrid protocol chosen is one that switches between timetriggered and event-triggered methods in order to realize their combined advantages. A control algorithm is co-designed along with this hybrid protocol so as to exploit the properties of the individual protocols as well as the switches between them. The controller is chosen to be adaptive in order to cope with any uncertainties that may be present. The resulting adaptive, switching controller is shown to be stable in the presence of a class of disturbances.

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“…The controller objective is then to restore both attitude and angular rates to a zero reference state. The initial conditions on the physical state representing this disturbance are defined as where states (1, 2, 3) are roll, pitch, and yaw in the LVLH reference frame, states (4, 5, 6) are elements of the angular velocity vector, and states (7,8,9) represent angular momentum of each of three reaction microwheels used in control. Because we are regulating states to zero, the reference trajectory is x p,r = 0 0 0 0 0 0 0 0 0 .…”

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“…In what follows, we describe a scheme that realizes this [23]- [25]. Here, control messages are switched between TT and ET slots.…”