Title:
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Preliminary approach to Lyapunov sampling in CAN-based networked control systems
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Author:
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Yépez Castillo, José Gregorio; Lozoya, Camilo; Velasco García, Manel; Martí Colom, Pau; Fuertes Armengol, José Mª
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Other authors:
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Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes |
Abstract:
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This paper presents a preliminary approach to networked control systems (NCS) that relies on an event-driven control method based on Lyapunov sampling. The goal is to study and develop approaches for NCS capable of offering controllers with low bandwidth demands. The paper starts by presenting the theoretical framework required for applying Lyapunov sampling to a set of closed-loop systems that share a serial bus line. The discussion permits identifying which requirements must be fulfilled in order to guarantee overall stability. In addition, the feasibility of the theoretical framework in terms of implementation requires to address problems caused by the implicit distributed architecture of the NCS. In particular, an efficient implementation approach is described for the CAN network. Simulation results illustrate the operation and benefits of the presented approach. |
Abstract:
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Peer Reviewed |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Automàtica i control -Lyapunov methods -Closed loop systems -Controller area networks (Computer networks) -Distributed control -Sistemes de control |
Rights:
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Document type:
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Article - Published version Conference Object |
Published by:
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IEEE Press. Institute of Electrical and Electronics Engineers
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