CAN-Based Networked Control Systems: A Co-Design of Time Delay Compensation and Message Scheduling

Cac, Nguyen Trong; Hung, Nguyen Xuan; Khang, Nguyễn Văn

doi:10.7840/kics.2014.39b.10.629

Cited by 1 publication

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“…where jMOD(S i ) denotes the modular calculation between j and S i . In general, a balanced network payload could enhance the stability and robustness of the NCS (Cac et al, 2014). To achieve this goal, the objective function F is considered as the variance of data packet length in consecutive slices.…”

Section: Scheduling Problem Formulationmentioning

confidence: 99%

Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm

Liu

et al. 2018

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Purpose Underwater shuttle is widely used in scenarios of deep sea transportation and observation. As messages are transmitted via the limited network, high transmission time-delay often leads to information congestion, worse control performance and even system crash. Moreover, due to the nonlinear issues with respect to shuttle’s heading motion, the delayed transmission also brings extra challenges. Hence, this paper aims to propose a co-designed method, for the purpose of network scheduling and motion controlling. Design/methodology/approach First, the message transmission scheduling is modeled as an optimization problem via adaptive genetic algorithm. The initial transmission time and the genetic operators are jointly encoded and adjusted to balance the payload in network. Then, the heading dynamic model is compensated for the delayed transmission, in which the parameters are unknown. Therefore, the adaptive sliding mode controller is designed to online estimate the parameters, for enhancing control precision and anti-interference ability. Finally, the method is evaluated by simulation. Findings The messages in network are well scheduled and the time delay is thus reduced, which increases the quality of service in network. The unknown parameters are estimated online, and the quality of control is enhanced. The control performance of the shuttle control system is thus increased. Originality/value The paper is the first to apply co-design method of message scheduling and attitude controlling for the underwater unmanned vehicle, which enhaces the control performance of the network control system.

show abstract

Section: Scheduling Problem Formulationmentioning

confidence: 99%

Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm

Liu

et al. 2018

View full text Add to dashboard Cite

show abstract

CAN-Based Networked Control Systems: A Co-Design of Time Delay Compensation and Message Scheduling

Cited by 1 publication

References 11 publications

Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm

Co-designed of network scheduling and sliding mode control for underwater shuttle based on adaptive genetic algorithm

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