A Priority-Based Distributed Channel Access Mechanism for Control over CAN-like Networks

Shengquan Wang, Tahmoores Farjam, Themistoklis Charalambous

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

2 Citations (Scopus)
31 Downloads (Pure)


In this work, we study the distributed channel access problem for multiple subsystems equipped with smart sensors sharing a capacity-limited communication network to perform their control tasks. We propose a fully distributed scheme to use the limited communication resources efficiently with respect to a quadratic cost which reflects the control performance. More specifically, we adopt a priority assignment scheme which consists of two layers: (i) a dynamic priority that corresponds to the time-varying criticality of transmission for each subsystem, and (ii) a pre-specified static priority which ensures that channel access is collision-free. We first demonstrate how the dynamic priorities can be manipulated to allocate the resources with respect to the chosen cost. Next, we propose a synchronization method which enables fully distribute implementation over controller area network (CAN) hardware. We validate the compatibility of our method with the mature hardware technology of CAN by hardware-in-the-loop simulations. Finally, we demonstrate the efficacy of our proposed scheme and evaluate its performance in large-scale networks via simulation.

Original languageEnglish
Title of host publication2021 European Control Conference, ECC 2021
Number of pages7
ISBN (Electronic)978-94-6384-236-5
Publication statusPublished - Jan 2022
MoE publication typeA4 Conference publication
EventEuropean Control Conference - Delft, Netherlands
Duration: 29 Jun 20212 Jul 2021
Conference number: ECC


ConferenceEuropean Control Conference
Abbreviated titleECC


  • Controller area network
  • Cost of information loss
  • Distributed channel access
  • Networked control systems


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