Abstract
Many Networked Control Systems (NCS) comprise several control loops that are closed over a network of computation nodes. In those systems, periodic, sporadic and non-periodic packets share the network bandwidth, complex timing behavior and communication lead to delay and jitter, which both degrade the control performance. That is to say the performance of NCS is determined not only by control algorithms, but also by the quality of serves (QoS) of network. Therefore, the network QoS must be considered during the controller synthesis. Also, the control performance should be taken into account during system scheduling. In this paper, a control–scheduling co-design method that integrates controller and scheduler design is proposed. The transmission periods of control packets are calculated to optimize the overall performance of control loops. The transmission phases and resource utilization of sporadic and non-periodic packets are controlled by the resource reservation server running on each node to guarantee the temporal requirements of those data and also to limit the effect on the transmission of control packets. Further more, a harmonization algorithm of transmission periods of packets is also presented to improve the bandwidth utilization. An integrated simulation platform based on Truetime is present, and the experimental results show that the scheme is more effective than the former ones.
Highlights
The design of Networked Control Systems (NCS) involves two main activities
The network loads generated by controller synthesis may lead to networked overload or bandwidth waste, which results in non- constant delay and sampling period and it is well known that delay and jitter degrade the control performance
Aiming at the integrated control and scheduling for the NCS, a control-scheduling co-design method is proposed for the transmission of both control and non-control messages
Summary
The design of NCSs involves two main activities. Ones focus on designing control algorithms, the others focus www.ccsenet.org/cis. In implementation of control applications, the synthesized controllers are implemented as a set of periodic tasks that read sensors, compute control signals, and write to actuators; the tasks can implement other operations (e.g., emergency signal processing or data of field state uploading). Those tasks can execute in several computation nodes which communicate on a network system. In resent years, the co-design of control algorithms and bandwidth schedule is proposed to resolve the problems above
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