IEEE Trans Cybern. 2019 Apr;49(4):1186-1199. doi: 10.1109/TCYB.2018.2794523. Epub 2018 Mar 13.
Due to properties of flexibility, adaptiveness, error tolerance, and time-determinism performance, the FlexRay communication protocol has been widely used to investigate robot systems and new generation of automobiles. In this paper, with the FlexRay communication protocol, the tracking problem of a class of cyber-physical systems are investigated by developing a general hybrid model, in which an emulation controller is utilized. Based on the proposed hybrid model, some sufficient conditions are established to guarantee the convergence of tracking errors. Then, the maximum allowable transmission interval (MATI) of the static/dynamic segment is obtained with a more general formula than the ones in some the previous works. The obtained MATI over the FlexRay communication network can be adjusted via the appropriate length of the static/dynamic segment, which reflects the flexibility of FlexRay. Finally, the results are verified by considering the tracking problem of a single-link robot arm system as well as the stabilization of a batch reactor system.
由于 FlexRay 通信协议具有灵活性、适应性、容错性和时间确定性等性能，因此被广泛应用于机器人系统和新一代汽车的研究中。在本文中，我们利用 FlexRay 通信协议，通过开发一种通用的混合模型并利用仿真控制器来研究一类网络物理系统的跟踪问题。基于所提出的混合模型，建立了一些充分条件来保证跟踪误差的收敛性。然后，我们得到了静态/动态段的最大允许传输间隔（MATI），这个公式比之前一些工作中的公式更加通用。通过适当调整静态/动态段的长度，可以获得 FlexRay 通信网络上的 MATI，这反映了 FlexRay 的灵活性。最后，通过考虑单连杆机器人臂系统的跟踪问题以及批处理反应器系统的稳定化问题，验证了所得到的结果。
