Internet-based control of a ball-and-plate system: A case study of modeling and automatic code generation for networked control systems

Author(s):  
Gina Torres ◽  
Enric X. Martin ◽  
Manel Velasco ◽  
Pau Marti ◽  
Antonio Camacho
Author(s):  
Alessandra Bagnato ◽  
Imran Quadri ◽  
Etienne Brosse ◽  
Andrey Sadovykh ◽  
Leandro Soares Indrusiak ◽  
...  

This chapter presents the EU-funded MADES FP7 project that aims to develop an effective model-driven methodology to improve the current practices in the development of real-time embedded systems for avionics and surveillance industries. MADES developed an effective SysML/MARTE language subset, and a set of new tools and technologies that support high-level design specifications, validation, simulation, and automatic code generation, while integrating aspects such as component re-use. This chapter illustrates the MADES methodology by means of a car collision avoidance system case study; it presents the underlying MADES language, the design phases, and the set of tools supporting on one hand model verification and validation and, on the other hand, automatic code generation, which enables the implementation on execution platforms such as state-of-the-art FPGAs.


Author(s):  
Antonio Camacho ◽  
Pau Marti ◽  
Manel Velasco ◽  
Camilo Lozoya ◽  
Ricard Villa ◽  
...  

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6702
Author(s):  
Wijaya Kurniawan ◽  
Lorinc Marton

In networked control systems, sensor faults in a subsystem have a major influence on the entire network as the fault effect reaches the other subsystems through the network interconnections. In this paper, a fault diagnosis-oriented model is proposed for linear networked control systems that can be applied to the robotics platoon. In addition, this model can also be used to design distributed Unknown Input Observers (UIO) in each subsystem to accomplish weak sensor faults isolation by treating the network disturbances and fault propagation through the network as unknown inputs. A case study was developed in which the subsystems were represented by robots that are connected in a wireless communication-based leader-follower scheme. The simulation results show that the model successfully reproduces the expected behaviour of the robotics platoon in the presence of sensor faults. Furthermore, weak sensor faults isolation is also achieved by observing the residual signals produced by the UIOs in each of the subsystems.


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