CSMA/CA and CSMA/CD

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Table of contents

1 Introduction 
1.1 Why Networked control systems
1.2 Safe-Necs(Safe-Networked Control Systems) Project
1.3 Objectives and motivations
1.4 Thesis outline and contributions
1.5 Publications
2 Networked Control Systems 
2.1 A brief history of NCSs
2.2 NCSs Categories
2.3 Medium access methods in communication networks
2.3.1 CSMA/CA and CSMA/CD
2.3.2 Token-Bus
2.3.3 TDMA
2.4 Fundamental issues in NCSs
2.4.1 Network-induced Delay
2.4.2 Packet dropout
2.4.3 Medium access constraints
2.4.4 Quantization and feedback control in NCS
2.5 Model-based fault detection
2.5.1 Fault detection of Networked control systems
2.5.1.1 Fault detection in NCSs with network delays
2.5.1.2 Fault detection of NCSs with packet losses
3 FDI with limited communication : Fixed scheduling case
3.1 Communication limitation modeling
3.2 Observability and Reachability of extended plant
3.3 Fault detection
3.3.1 Observer-based approach
3.3.2 FD subject to access constraints and Packet dropout
3.4 FD in distributed system with communication constraints
3.5 Design of structured residual sets in NCSs subject to random packet dropouts
3.5.1 Fault isolation
3.5.2 Illustrative example
3.6 FDI of NCSs subject to random packet dropout and medium access constraints
3.6.1 Design of robust residual generators
3.6.2 Illustrative example
3.7 Conclusion
4 Communication sequence design in NCS with communication constraints : a graphic approach
4.1 Structured system
4.2 Graphic representation of linear structured systems
4.2.1 Directed graph
4.2.1.1 Generic controllability and generic observability
4.2.2 Dynamic bipartite graph
4.2.3 Generic reachability
4.3 Communication sequence design, observability
4.4 Communication sequence design, reachability
4.5 Conclusion
5 Fault detection in limited communication with dynamic scheduling 
5.1 Problem formulation
5.2 Parity space-based residual generation and semi-online scheduling
5.2.1 Offline communication sequence design
5.2.2 Sequence selection
5.2.2.1 Multi Sequential Probability Ratio Test(MSPRT)
5.2.3 Fault detection
5.2.4 Example
5.3 Observer-based residual generation and semi-online scheduling
5.4 Online scheduling in CAN network by means of hybrid priority
5.4.1 CAN network
5.4.2 Hybrid priority
5.4.3 Hybrid priority with diagnostic objective
5.5 Conclusion
6 Drone Application 
6.1 Drone presentation
6.1.1 Architecture of prototype of Safe-NECS project
6.1.2 Drone movements
6.1.3 Attitude representation
6.1.3.1 Euler angles
6.1.3.2 Quaternion
6.1.4 Drone sensors
6.1.5 Mechanical Model and attitude estimation
6.2 Fault tolerant control
6.2.1 Reconfiguration in case of critical failures
6.2.2 Actuator and network faults and its effects
6.2.3 Fault tolerance control module
6.2.3.1 First strategy
6.2.3.2 Second strategy
6.2.3.3 Third strategy
6.2.3.4 Fourth strategy
6.3 Semi-online scheduling and fault detection
6.3.1 Residual generation
6.3.2 residual classification
6.3.3 Sensor access scheduling
6.3.4 Simulation results
7 Conclusion and future works 
Bibliography