Behavior modeling of cyber-physical system based on discrete hybrid automata

Cyber-Physical Systems (CPSs), characterized by deeply integrating computing, communication and control, are large-sale, complex, embedded systems with hybrid characteristic. The uncertainty of discrete states and concurrency of continuous process, caused by hybrid interaction between computing and physical process, make it difficult to be fully described by the traditional hybrid model. In view of the above problems, this paper, taking a typical CPS case-the scene of lunar rover autonomous walking for example, adopts the Discrete Hybrid Automata (DHA) modeling frame and Hybrid System Description Language (HYSDEL) to build and analyze its behavior model. Furthermore, combined with the related toolbox for MATLAB, the trajectories of the continuous states are simulated. The outcomes demonstrate that the modeling technique can overcome the above problems well and lay a model foundation for the further simulation and verification.