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A Co-Design for CAN-Based Networked Control Systems

Received: 6 March 2014     Accepted: 9 April 2014     Published: 20 April 2014
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Abstract

The goal of this paper is to consider a co-design approach between the controller of a process control application and the frame scheduling for CAN-Based Networked Control Systems in order to simultaneously improve the Quality of Control (QoC) of the process control and the Quality of Service (QoS) of the CAN-based network. First, we present a way to calculate the closed-loop communication time delay and we compensate this time delay using the pole-placement design method. Second, we propose a hybrid priority scheme for the message scheduling which allows to improve the QoS. Finally, we present a co-design of the communication time delay compensation and the message scheduling, which gives a more efficient Networked Control System

Published in Automation, Control and Intelligent Systems (Volume 2, Issue 1)
DOI 10.11648/j.acis.20140201.12
Page(s) 6-15
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2014. Published by Science Publishing Group

Keywords

CAN Bus, Networked Control Systems, Message scheduling, Hybrid Priority Schemes, Communication Time Delay, Pole Placement Design, Co-Design

References
[1] Michael S. Branicky, Vincenzo Liberatore and Stephen M. Phillips, “Networked control system co-simulation for co-design,” American Control Conference, USA, Vol. 4, June 2003, pp. 3341-3346.
[2] Ye-Qiong Song, “Networked Control Systems: From independent designs of the network QoS and the control of the co-design,” 8th IFAC international Conference on Fieldbuses and Networks in Industrial and Embedded Systems, Korea, May 2009, pp. 155-162.
[3] Pau Martí, José Yépez, Manel Velasco, Ricard Villà and Josep M. Fuertes, “Managing Quality-of-Control in network-based control systems by controller and message scheduling co-design,” IEEE Transactions on Industrial Electronics, Vol. 51, No. 6, Dec. 2004, pp. 1159-1167.
[4] Xuan Hung Nguyen and Guy Juanole, “Design of Networked Control Systems on the basis of interplays between Quality of Control and Quality of Service,” 7th IEEE International Symposium on Industrial Embedded Systems, France, June 2012, pp. 85-93.
[5] Y.B. Zhao, G.P. Liu and D. Rees, “Integrated predictive control and scheduling co-design for networked control systems,” IET Control Theory & Applications, Vol. 2, Issue 1, Jan. 2008, pp. 7-15.
[6] Shi-Lu Dai, Hai Lin, and Shuzhi Sam Ge, “Scheduling and control co-design for a collection of Networked Control Systems with uncertain delays,” IEEE Transactions on control systems technology, Vol. 18, No. 1, Jan. 2010, pp. 66-78.
[7] Karl J. Åström and B. Wittenmark, “Computer controlled systems: theory and design,” 3th Edition, Prentice Hall, 1997.
[8] Murat Dogruel and Umit Özgüner, “Stability of a Set of Matrices-A Control heoretic Approach,” 34th Conference on Decision and Control, New Orleans, USA, Vol. 2, Sep. 1995, pp. 1324-1329.
[9] Martin Ohlin, Dan Henrikssonand Anton Cervin, “TrueTime 1.5 - Reference Manual,” Lund Institute of Technology, Sweden, 2007.
[10] Salem Hasnaoui, Oussema Kallel, Ridha Kbaier, Samir Ben Ahmed, “An implementation of a proposed modification of CAN protocol on CAN fieldbus controller component for supporting a dynamic priority policy,” 38th Annual Meeting of the Ind. App., Vol. 1, Oct. 2003, pp. 23-31.
[11] Guy Juanole, Gerard Mouney, Christophe Calmettes, Marek Peca, “Fundamental considerations for implementing control systems on a CAN network,” 6th International Conference on Fielbus Systems and their Applications, Mexico, Nov. 2005, pp. 280-285.
[12] Khawar M. Zuberi end Kang G. Shin, “Scheduling messages on Controller Area Network for real time CIM applications,” IEEE Trans. Robot. Autom, Vol. 13, No. 2, Apr. 1997, pp. 310-314.
[13] Khawar M. Zuberi and Kang G. Shin, “Design and implementation of efficient message scheduling for Controller Area Network,” IEEE Transactions on Computers, Vol. 49, No. 2, Feb. 2000, pp. 182-188.
[14] Manel Velasco, Pau Martí, Rosa Castané, Josep Guardia and Josep M. Fuertes, “A CAN application profile for control optimization in Networked Embedded Systems,” 32nd Annual Conference onIEEE Industrial Electronics, Paris, Nov. 2006, pp. 4638-4643.
[15] Guy Juanole and Gérard Mouney, “Networked Control Systems: Definition and analysis of a hybrid priority scheme for the message scheduling,” 13th IEEE conference on Embedded and Real-Time Computing Systems and Applications, Korea, Aug. 2007, pp. 267-274.
Cite This Article
  • APA Style

    Nguyen Trong Cac, Nguyen Van Khang. (2014). A Co-Design for CAN-Based Networked Control Systems. Automation, Control and Intelligent Systems, 2(1), 6-15. https://doi.org/10.11648/j.acis.20140201.12

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    ACS Style

    Nguyen Trong Cac; Nguyen Van Khang. A Co-Design for CAN-Based Networked Control Systems. Autom. Control Intell. Syst. 2014, 2(1), 6-15. doi: 10.11648/j.acis.20140201.12

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    AMA Style

    Nguyen Trong Cac, Nguyen Van Khang. A Co-Design for CAN-Based Networked Control Systems. Autom Control Intell Syst. 2014;2(1):6-15. doi: 10.11648/j.acis.20140201.12

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  • @article{10.11648/j.acis.20140201.12,
      author = {Nguyen Trong Cac and Nguyen Van Khang},
      title = {A Co-Design for CAN-Based Networked Control Systems},
      journal = {Automation, Control and Intelligent Systems},
      volume = {2},
      number = {1},
      pages = {6-15},
      doi = {10.11648/j.acis.20140201.12},
      url = {https://doi.org/10.11648/j.acis.20140201.12},
      eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20140201.12},
      abstract = {The goal of this paper is to consider a co-design approach between the controller of a process control application and the frame scheduling for CAN-Based Networked Control Systems in order to simultaneously improve the Quality of Control (QoC) of the process control and the Quality of Service (QoS) of the CAN-based network. First, we present a way to calculate the closed-loop communication time delay and we compensate this time delay using the pole-placement design method. Second, we propose a hybrid priority scheme for the message scheduling which allows to improve the QoS. Finally, we present a co-design of the communication time delay compensation and the message scheduling, which gives a more efficient Networked Control System},
     year = {2014}
    }
    

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  • TY  - JOUR
    T1  - A Co-Design for CAN-Based Networked Control Systems
    AU  - Nguyen Trong Cac
    AU  - Nguyen Van Khang
    Y1  - 2014/04/20
    PY  - 2014
    N1  - https://doi.org/10.11648/j.acis.20140201.12
    DO  - 10.11648/j.acis.20140201.12
    T2  - Automation, Control and Intelligent Systems
    JF  - Automation, Control and Intelligent Systems
    JO  - Automation, Control and Intelligent Systems
    SP  - 6
    EP  - 15
    PB  - Science Publishing Group
    SN  - 2328-5591
    UR  - https://doi.org/10.11648/j.acis.20140201.12
    AB  - The goal of this paper is to consider a co-design approach between the controller of a process control application and the frame scheduling for CAN-Based Networked Control Systems in order to simultaneously improve the Quality of Control (QoC) of the process control and the Quality of Service (QoS) of the CAN-based network. First, we present a way to calculate the closed-loop communication time delay and we compensate this time delay using the pole-placement design method. Second, we propose a hybrid priority scheme for the message scheduling which allows to improve the QoS. Finally, we present a co-design of the communication time delay compensation and the message scheduling, which gives a more efficient Networked Control System
    VL  - 2
    IS  - 1
    ER  - 

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Author Information
  • School of Electronics and Telecommunications, Hanoi University of Science and Technology, Hanoi, Vietnam

  • School of Electronics and Telecommunications, Hanoi University of Science and Technology, Hanoi, Vietnam

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