PRIORITIZED CONTROLLER ARBITRATION

摘要

In a distributed control system where multiple controllers can control the same actuator or sensor, each controller is assigned a priority level, and command arbitration is based on the relative priority levels of the controllers. Each actuator or sensor selects a controller to serve as a master controller for one or more of its state variables. Different master controllers may be selected for different state variables. When a command is received by the actuator or sensor, it determines how to treat the command by comparing the priority of the controller from which the command originated to the priority of the master controller.