Anytime Control Algorithms for Embedded Real-Time Systems

Authors:
Daniele Fontanelli;Luca Greco;Antonio Bicchi
Affiliations:
Interdepartmental Research Center "E. Piaggio", University of Pisa,;Interdepartmental Research Center "E. Piaggio", University of Pisa, and University of Salerno,;Interdepartmental Research Center "E. Piaggio", University of Pisa,
Venue:
HSCC '08 Proceedings of the 11th international workshop on Hybrid Systems: Computation and Control
Year:
2008

Citing 4
Cited 0

Algorithms for Scheduling Imprecise Computations

Computer - Special issue on real-time systems
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment

Journal of the ACM (JACM)
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications

Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Switching between stabilizing controllers

Automatica (Journal of IFAC)

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Abstract

In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an "anytime control" design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.