Distributed event-triggered robot control system over controller area network

In this paper the distributed control systems, of which components are managed with event-triggered and/or time-triggered approaches to exchange messages and function properly, are discussed. Furthermore a prototype of the distributed control systems is designed, developed and tested so as to understand more and to find a better way to control various components of the real-time systems efficiently. The proposed prototype system is implemented over the controller area network (CAN) to have several components/robots function in synchronous and asynchronous ways. In order to understand the relationship of the hardware/software components of the prototype system, the unified modeling language (UML) diagrams are developed while building the test bed system physically and developing programs to function properly for the components of the proposed system.