Passivity-Based Control Design for Cyber-Physical Systems

TitlePassivity-Based Control Design for Cyber-Physical Systems
Publication TypeConference Paper
Year of Publication2008
AuthorsKoutsoukos, X., N. Kottenstette, J. Hall, P. J. Antsaklis, and J. Sztipanovits
Conference NameInternational Workshop on Cyber-Physical Systems - Challenges and Applications (CPS-CA’08)
Date Published06/2008
Conference LocationSantorini Island, Greece

Real-life Cyber-Physical Systems (CPSs), such as
automotive vehicles, building automation systems, and groups
of unmanned air vehicles are monitored and controlled by
networked control systems. The overall system dynamics emerges
from the interaction among physical dynamics, computational
dynamics, and communication networks. Network uncertainties
such as time-varying delay and packet loss cause significant
challenges that probihibit the application of traditional component based
design methods. This paper proposes a passive control
architecture for designing CPSs that are insensitive to network
uncertainties. The proposed method improves orthogonality
across the controller design and implementation design layers
with respect to network uncertainties, thus empowering model driven
development. The paper presents the architecture for a
simplified system consisting of a robotic manipulator controlled
by a digital controller over a wireless network and simulation
results that show that the system is insensitive to time-varying
network delays.