Abstract
Cooperative vehicular cyber physical systems build a group of entities that can accomplish a cooperative task using the distributed control approaches. To this end, such a cooperative task can be coordinated and managed by a distributed control plane that will be able to encapsulate all the required functionality in a layered architecture providing the required interoperability. Here, the authors propose such a distributed control plane that consists of the cooperative awareness layer, the communication layer and the distributed control layer. Wireless communications play an important role for the mobility provision, taking into account different constraints in order to provide high reliability and low latency. A simulation environment is considered with a leader–follower control format, where the reliability is evaluated. Further, a distributed safety monitoring approach is devised, given a control diagram and mapping of the events to the different components. The event monitoring relies on the self-triggered approach, where a use case is evaluated to highlight the impact of the input and output delays to the model predictive control component of the overall distributed control diagram including the calculation of the number of triggered events.
Highlights
Cyber physical systems (CPSs) are computer-based machines that integrate different digital components, such as computer architecture, software technologies and networking protocols
We introduced a distributed control plane (DCP) for cooperative vehicular CPS (vCPS) that consists of three layers such as cooperative awareness, M2M communications and distributed control
We discussed about the distributed control using the model predictive control for such a mobile robot application
Summary
Cyber physical systems (CPSs) are computer-based machines that integrate different digital components, such as computer architecture, software technologies and networking protocols. We provide an integrated solution, where a distributed control plane (DCP) encapsulates the context-awareness messages, wireless communications and distributed control Such a design approach is essential for new integrated CPS solutions, where cyber and physical components are integrated at all levels with the safety provision [9]. The robust system operation is essential to guarantee the reliability from communication and control point of view [10] To this end, at the bottom of the proposed architecture, a distributed control layer is developed, which controls the cooperative tasks, e.g. manoeuvres in a leader– follower use case. This is the main goal of the proposed DCP, to accommodate many applications and different use cases This is considered as a kind of reference model to design and develop the required functionality from any party in the future.
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