Abstract
The procedure of the time-optimal controller synthesis in the mobile cyber-physical system control problems in the form of the Dubins car is considered. In the decision quality assessment, the total time spent on executing the task of transferring an object to a given point is taken into account, including the time for the control program calculation and the time of the object movement to the target. Both online and offline variants of the production model numerical determination of the controller as a system of rules “condition” – “action” are considered. As an online variant, it is suggested to use an anytime genetic algorithm. A comparison between online and offline methods of calculating a rule system for the regulator performance is made. The advantages of the online method in solving the problem of transferring the mobile cyber physical system in a homogeneous environment and the advantages of an offline method in a heterogeneous environment are demonstrated.
Highlights
The world now is at the beginning of a new technological revolution
When developing cyberphysical systems one must take into account that they are a single set of interactive computing, communication and physical processes
A certain step in this direction is to use a production model of the controller when modeling a cyber-physical system as a digital control system of continuous object [4]
Summary
The world now is at the beginning of a new technological revolution. Its essence is in the iniquitousness of cyberphysical systems (CPS - cyber-physical systems) [1,2,3]. The calculations and the physical process are becoming the integral whole; it is impossible to predict and understand the behavior of any of these two parts separately When parts of such a system (sensors, controllers, actuation devices) exchange information, a third component is added to the specified integral whole: the process of network communication. The robust relationship between discrete computational processes and information transfer with continuous processes in the control objects requires a fundamentally new technology of description, analysis and synthesis of cyber-physical systems. The dynamic part of the system, which determines the performance of the control object, is described by differential equations, and the control part (controller, sensors, actuation devices and data transmission network from the object to the control part and back) – by the algorithm of its work (a productions system, a system of rules "condition" - "action"). At the same time the multi-step synthesis, comprising the controller structure selection, the definition of its parameters, the development of algorithm and program code implementing the controller, is replaced by a direct synthesis of controller action program – the system of rules, i.e. the algorithm of its performance in the form of pseudo-code
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