| dc.description.abstract | Cyber-physical systems are complex engineering systems that integrate computational, communication, and control components with physical components in many applications such as automotive systems, aeronautical systems, industrial process control systems, electrical power grids, and environmental monitoring systems. As the cyber components increase in both number and complexity, technical challenges arise for their integration with the physical domain. As the field of cyber-physical systems continues to grow and evolve, problems emerge from the interaction of heterogeneous domains, hybrid dynamics, and nonlinearities which significantly hamper the system integration. Consequently, rigorous engineering methods are needed for the integration of cyber and physical components in order to achieve predictable, correct behavior.
This dissertation presents a model-based design framework based on port-Hamiltonian systems and passivity in order to address the challenges mentioned above. The contributions are threefold: (1) A domain-specific modeling language, (2) a compositional model-based control design method, and (2) a formal safety analysis method for multi-modal port Hamiltonian systems. The Port-Hamiltonian Systems Modeling Language uses the structure of port-Hamiltonian systems to model cyber-physical systems with nonlinearities, hybrid dynamics, and heterogeneous domains in a component-based way. The compositional model-based control design method uses passivity-based methods to ensure stability properties of the overall system in the presence of implementation uncertainties. The safety analysis method utilizes the Hamiltonian function as a barrier function to prevent system trajectories from ending in unsafe regions of the state space.
The theoretical contributions are evaluated and validated with an in-depth case study of automotive control software for an autonomous vehicle using a hardware-in-the-loop simulation platform. | |
