Co-Design of Multimodal CPS Architectures and Adaptive Controllers

ABSTRACT

Distributed cyber-physical architectures typically consist of multiple control applications mapped onto spatially distributed embedded systems (DES) with sensors and actuators that communicate via shared buses such as CAN and FlexRay. These CPS systems provide considerable flexibility in designing the network in terms of mapping control tasks to processors and determining various scheduling parameters and protocols. The focus of our project is an efficient implementation of multiple control applications on a complex DES platform with multiple processors and buses where the flexibility and transparency in DES is fully utilized leading to a co-design of control and platform. Recent results include (i) design of a Parallelized MPC, (ii) stability with dropped signals, (iii) adaptive switched control with hybrid protocols, and (iv) efficient resource utilization with nonmonotonic closed-loop response.

Award ID: 1135815