![](bg5.png)
model during 50 seconds. At the beginning sensor
task periods are out of better performance interval,
once passed 20 sec the model modifies dynamically
frequency transmission of sensors.
Figure 5: Helicopter response using frequency transition
model.
5 CONCLUSIONS
In this work, we have present a linear time invariant
model of agent’s frequency transmission involved
into a distributed system. The significance of control
the frequencies stem from the system schedulability
through information interchange between agents of
distributed system. The key feature of LQR control
approach is a simple design with good robustness
and performance capabilities let to modify the
frequencies easily. Authors have shown via
numerical simulations the performance of the
proposed control scheme using a helicopter
prototype.
ACKNOWLEDGEMENTS
The financial support given by grants PAPIIT-
UNAM 103310 and CONACYT is really
appreciated.
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SCHEDULING BASED UPON FREQUENCY TRANSITION - Following Agents Agreement in a NCS
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