Conference paper
Ultra reliable distributed control for cooperative vehicular cyber physical systems
Cooperative vehicular cyber physical systems (vCPSs) can shape a group of mobile robots that can accomplish a cooperative task using wireless communications and distributed control. To this end, such a cooperative task can be coordinated and managed by a distributed control plane that will be able to encapsulate the required functionality in a layered architecture providing the required interoperability.
In this paper, we propose a distributed control plane that consists of the cooperative awareness layer, the communication layer and the distributed control layer. We deal with the distributed control for vCPS employing distributed model predictive control for leader-follower formation control. Next, the design of ultra reliable and low latency wireless communications is specified, where a distributed solution is devised to provide ultra reliable distributed control for cooperative vCPS.
Simulation results are obtained in order to highlight the impact of reliability constraint to join/leave manoeuvre for the considered use case.
Language: | English |
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Publisher: | IEEE |
Year: | 2019 |
Pages: | 1-6 |
Proceedings: | 2019 13th Annual IEEE International Systems Conference |
Series: | Syscon 2019 - 13th Annual Ieee International Systems Conference, Proceedings |
ISBN: | 1538683962 , 1538683970 , 9781538683965 and 9781538683972 |
ISSN: | 24729647 |
Types: | Conference paper |
DOI: | 10.1109/SYSCON.2019.8836922 |
ORCIDs: | Pop, Paul |
Cooperative cyber-physical systems Distributed control Leader-follower Reliable wireless communications
Decentralized control Protocols Reliability Robots Task analysis Vehicle dynamics Wireless communication communication layer cooperative awareness layer cooperative cyber-physical systems cooperative systems cooperative vehicular cyber physical systems cyber-physical systems distributed control distributed control layer distributed control plane leader-follower leader-follower formation control mobile robots model predictive control multi-robot systems optimal control predictive control reliable wireless communications ultrareliable distributed control vCPSs wireless communications