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A passivity approach for model-based compositional design of networked control systems

Authors:

Xenofon Koutsoukos,

Nicholas Kottenstette,

Janos SztipanovitsAuthors Info & Claims

ACM Transactions on Embedded Computing Systems (TECS), Volume 11, Issue 4

Article No.: 75, Pages 1 - 31

https://doi.org/10.1145/2362336.2362342

Published: 01 January 2013 Publication History

Abstract

The integration of physical systems through computing and networking has become pervasive, a trend now known as cyber-physical systems (CPS). Functionality in CPS emerges from the interaction of networked computational and physical objects. System design and integration are particularly challenging because fundamentally different physical and computational design concerns intersect. The impact of these interactions is the loss of compositionality which creates tremendous challenges. The key idea in this article is to use passivity for decoupling the control design of networked systems from uncertainties such as time delays and packet loss, thus providing a fundamental simplification strategy that limits the complexity of interactions. The main contribution is the application of the approach to an experimental case study of a networked multi-robot system. We present a networked control architecture that ensures the overall system remains stable in spite of implementation uncertainties such as network delays and data dropouts, focusing on the technical details required for the implementation. We describe a prototype domain-specific modeling language and automated code generation tools for the design of networked control systems on top of passivity that facilitate effective system configuration, deployment, and testing. Finally, we present experimental evaluation results that show decoupling of interlayer interactions.

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Cited By

Potteiger BDubey ACai FKoutsoukos XZhang Z(2022)Moving target defense for the security and resilience of mixed time and event triggered cyber–physical systemsJournal of Systems Architecture: the EUROMICRO Journal10.1016/j.sysarc.2022.102420125:COnline publication date: 1-Apr-2022
https://dl.acm.org/doi/10.1016/j.sysarc.2022.102420
Bakirtzis GFleming CVasilakopoulou C(2021)Categorical Semantics of Cyber-Physical Systems TheoryACM Transactions on Cyber-Physical Systems10.1145/34616695:3(1-32)Online publication date: 11-Jul-2021
https://dl.acm.org/doi/10.1145/3461669
Mohamed MKardas GChallenger M(2021)Model-Driven Engineering Tools and Languages for Cyber-Physical Systems–A Systematic Literature ReviewIEEE Access10.1109/ACCESS.2021.30683589(48605-48630)Online publication date: 2021
https://doi.org/10.1109/ACCESS.2021.3068358
Show More Cited By

Index Terms

A passivity approach for model-based compositional design of networked control systems
1. Applied computing
  1. Computers in other domains

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Published In

cover image ACM Transactions on Embedded Computing Systems

ACM Transactions on Embedded Computing Systems Volume 11, Issue 4

December 2012

459 pages

ISSN:1539-9087

EISSN:1558-3465

DOI:10.1145/2362336

Issue’s Table of Contents

Copyright © 2013 ACM.

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ACM Journals for the Design of Smart and Connected Systems

Publication History

Published: 01 January 2013

Accepted: 01 May 2011

Revised: 01 August 2010

Received: 01 December 2009

Published in TECS Volume 11, Issue 4

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Cited By

Potteiger BDubey ACai FKoutsoukos XZhang Z(2022)Moving target defense for the security and resilience of mixed time and event triggered cyber–physical systemsJournal of Systems Architecture: the EUROMICRO Journal10.1016/j.sysarc.2022.102420125:COnline publication date: 1-Apr-2022
https://dl.acm.org/doi/10.1016/j.sysarc.2022.102420
Bakirtzis GFleming CVasilakopoulou C(2021)Categorical Semantics of Cyber-Physical Systems TheoryACM Transactions on Cyber-Physical Systems10.1145/34616695:3(1-32)Online publication date: 11-Jul-2021
https://dl.acm.org/doi/10.1145/3461669
Mohamed MKardas GChallenger M(2021)Model-Driven Engineering Tools and Languages for Cyber-Physical Systems–A Systematic Literature ReviewIEEE Access10.1109/ACCESS.2021.30683589(48605-48630)Online publication date: 2021
https://doi.org/10.1109/ACCESS.2021.3068358
Eyisi EPorter JKottenstette NKoutsoukos XSztipanovits J(2011)PaNeCS: A modeling language for passivity-based design of networked control systems2011 19th Mediterranean Conference on Control & Automation (MED)10.1109/MED.2011.5983185(1002-1007)Online publication date: Jun-2011
https://doi.org/10.1109/MED.2011.5983185

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