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When multiple model predictive controllers are implemented on a sharedcontrol area network (CAN), their performance may degrade due to theinhomogeneous timing and delays among messages. The priority based real-timescheduling of messages on the CAN introduces complex timing of events,especially when the types and number of messages change at runtime. This paperintroduces a novel hybrid timing model to make runtime predictions on thetiming of the messages for a finite time window. Controllers can be designedusing the optimization algorithms for model predictive control by consideringthe timing as optimization constraints. This timing model allows multiplecontrollers to share a CAN without significant degradation in the controllerperformance. The timing model also provides a convenient way to check theschedulability of messages on the CAN at runtime. Simulation resultsdemonstrate that the timing model is accurate and computationally efficient tomeet the needs of real-time implementation. Simulation results also demonstratethat model predictive controllers designed when considering the timingconstraints have superior performance than the controllers designed withoutconsidering the timing constraints.

Model Predictive Control under Timing Constraints induced by Controller Area Networks