Networked Control Systems Thesis

Networked Control Systems Thesis-47
In fact, any setup where you want two systems in different places to act as if they were physically connected is a candidate for the EG-ITP approach.

In fact, any setup where you want two systems in different places to act as if they were physically connected is a candidate for the EG-ITP approach.

Building from the formalization of the bond-graph entities, we developed a more pragmatic metamodel for describing, designing and analysing EG-IPC systems.

Finally, we put these metamodels to the test by implementing their elements in the Smart MDSD Toolchain and building a concrete teleoperation use case with them.

The Figure 2 is a representation of an IPC controlling a robotic arm; the IPC is modeled as a set spring-damper elements that exchanges energy with the robot.

An Energy-Guard (EG) is an arrangement of functional blocks known as Passivity Layers (PLs) that guarantee stability of energy-based components when dealing with computational and communication delays.

Finally, we provide more details on the applications with a haptic teleoperation use case.

A long-standing and well known problem in teleoperation concerns the stability of haptic force-feedback systems [2].Following the model-driven approach of Rob Mo Sys, we developed metamodels to define the structure of the EG‐IPC blocks.This entails formalisation of the generic IPC structure whereby adding energy guards on the interfaces of the components where needed and additional interfaces to communicate and synchronise the energetic state.To achieve these results, we started by developing a metamodel (“design language”) of the bond-graph notation, which is a natural and versatile modeling language to describe multi-domain physical systems [1].We import the standard interfaces defined in the bond-graph metamodel required to generate components suitable for the EG-IPC approach.Figure 3 illustrates an energy-based software component (red oval) inside an arrangement of PLs (blue oval).A PL is placed on each energy-exchanging port of the ‘guarded’ component to guarantee passivity on every interaction.As such, the potential user group consist of all system architects and system builders of complex robotic applications being, according to Rob Mo Sys, the main part of the robotic applications that will be developed in the coming years.The diagram in Figure 4 illustrates the role of the EG-IPC in the Rob Mo Sys ecosystem.The EG-IPC project presents a formalized metamodel for the bond-graph language that captures the features of the energy-based modeling and control, which are critical to describe the power exchange between components under the energy-guarded component architecture.The bond-graph entities are represented in Figure 6. As an IPC is a controller which behaves as a physical system, its metamodel conforms to bond-graph language and feedback control as shown in Figure 7.


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