A Priority-Based Distributed Channel Access Mechanism for Control over CAN-like Networks
Loading...
Access rights
openAccess
acceptedVersion
URL
Journal Title
Journal ISSN
Volume Title
A4 Artikkeli konferenssijulkaisussa
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Other link related to publication (opens in new window)
Date
2022-01
Major/Subject
Mcode
Degree programme
Language
en
Pages
7
Series
2021 European Control Conference, ECC 2021, pp. 176-182
Abstract
In this work, we study the distributed channel access problem for multiple subsystems equipped with smart sensors sharing a capacity-limited communication network to perform their control tasks. We propose a fully distributed scheme to use the limited communication resources efficiently with respect to a quadratic cost which reflects the control performance. More specifically, we adopt a priority assignment scheme which consists of two layers: (i) a dynamic priority that corresponds to the time-varying criticality of transmission for each subsystem, and (ii) a pre-specified static priority which ensures that channel access is collision-free. We first demonstrate how the dynamic priorities can be manipulated to allocate the resources with respect to the chosen cost. Next, we propose a synchronization method which enables fully distribute implementation over controller area network (CAN) hardware. We validate the compatibility of our method with the mature hardware technology of CAN by hardware-in-the-loop simulations. Finally, we demonstrate the efficacy of our proposed scheme and evaluate its performance in large-scale networks via simulation.Description
Funding Information: This work was supported by the Academy of Finland under Grant 320043. The work of T. Charalambous was supported by the Academy of Finland under Grant 317726. Publisher Copyright: © 2021 EUCA.
Keywords
Controller area network, Cost of information loss, Distributed channel access, Networked control systems
Other note
Citation
Wang, S, Farjam, T & Charalambous, T 2022, A Priority-Based Distributed Channel Access Mechanism for Control over CAN-like Networks . in 2021 European Control Conference, ECC 2021 . TU Delft Open, pp. 176-182, European Control Conference, Delft, Netherlands, 29/06/2021 . https://doi.org/10.23919/ECC54610.2021.9655068