Co-design Approaches to Dependable Networked Control Systems

Daniel Simon is a scientist at INRIA Rhône-Alpes with the NeCS project team. His areas of research include real-time software design for robot control. He has provided effective solutions to implement real-time controllers on embedded targets to deal with control and real-time scheduling co-design. Ye-Qiong Song is Professor at Nancy University in France and with LORIA lab. His research interests include modeling and performance evaluation of networks and real-time distributed systems, as well as the development of real-time QoS mechanisms taking into account the control performance requirements in networked control systems.

Christophe Aubrun is Professor at Nancy University in France. His research areas are in the field of fault diagnosis and fault tolerant control for networked control systems.

Foreword xiii
Dominique SAUTER

Introduction and Problem Statement 1
Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG

I.1 Networked control systems and control design challenges 2

I.2 Control design: from continuous time to networked implementation 4

I.3 Timing parameter assignment 6

I.4 Control and task/message scheduling 8

I.5 Diagnosis and fault tolerance in NCS 10

I.6 Co-design approaches 11

I.7 Outline of the book 12

I.8 Bibliography 15

Chapter 1 Preliminary Notions and State of the Art 19
Christophe AUBRUN, Daniel SIMON and Ye-Qiong SONG

1.1.Overview 19

1.2 Preliminary notions on real-time scheduling 20

1.3 Control aware computing 26

1.4 Feedback-scheduling basics 30

1.5 Fault diagnosis of NCS with network-induced effects 43

1.6 Summary 53

1.7.Bibliography 53

Chapter 2 Computing-aware Control 63
Mongi BEN GAID, David ROBERT, Olivier SENAME, Alexandre SEURET and Daniel SIMON

2.1.Overview 63

2.2 Robust control w.r.t computing and networking-induced latencies 65

2.3 Weakly hard constraints 76

2.4 LPV adaptive variable sampling 89

2.5 Summary 98

2.6.Bibliography 99

Chapter 3 QoC-aware Dynamic Network QoS Adaptation 105
Christophe AUBRUN, Belynda BRAHIMI, Jean-Philippe GEORGES, Guy JUANOLE, Gerard MOUNEY, Xuan Hung NGUYEN and Eric RONDEAU

3.1.Overview 105

3.2 Dynamic CAN message priority allocation according to the control application needs 107

3.3 Bandwidth allocation control for switched Ethernet networks 132

3.4 Conclusion 144

3.5.Bibliography 145

Chapter 4 Plant-state-based Feedback Scheduling 149
Mongi BEN GAID, David ROBERT, Olivier SENAME and Daniel SIMON

4.1.Overview 149

4.2 Adaptive scheduling and varying sampling robust control 151

4.3 MPC-based integrated control and scheduling 156

4.4 A convex optimization approach to feedback scheduling 162

4.5 Control and real-time scheduling co-design via a LPV approach 170

4.6 Summary 177

4.7.Bibliography 181

Chapter 5 Overload Management Through Selective Data Dropping 185
Flavia FELICIONI, Ning JIA, Francoise SIMONOT-LION and Ye-Qiong SONG

5.1 Introduction 185

5.2 Scheduling under (m, k)-firm constraint 188

5.3 Stability analysis of a multidimensional system 193

5.4 Optimized control and scheduling co-design 197

5.5 Plant-state-triggered control and scheduling adaptation and optimization 209

5.6 Conclusions 218

5.7.Bibliography 220

Chapter 6 Fault Detection and Isolation, Fault Tolerant Control 223
Christophe AUBRUN, Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Dominique SAUTER

6.1 Introduction 223

6.2 FDI and FTC 224

6.3 Networked-induced effects 238

6.4 Pragmatic solutions 243

6.5 Advanced techniques 248

6.6 Conclusion and perspectives 262

6.7.Bibliography 262

Chapter 7 Implementation: Control and Diagnosis for an Unmanned Aerial Vehicle 267
Cedric BERBRA, Sylviane GENTIL, Suzanne LESECQ and Daniel SIMON

7.1 Introduction 267

7.2 The quadrotor model, control and diagnosis 269

7.3 Simulation of the network 282

7.4.Hardware in the loop architecture 285

7.5 Experiments and results 290

7.6 Summary 302

7.7 Bibliography 303

Glossary and Acronyms 305

List of Authors 309

Index 313

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