On a control algorithm for time-varying processor availability

Authors:
Vijay Gupta
Affiliations:
University of Notre Dame, Notre Dame, IN, USA
Venue:
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
Year:
2010

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Abstract

We consider an anytime control algorithm for the situation when the processor resource availability is time-varying. The basic idea is to calculate the components of the control input vector sequentially to maximally utilize the processing resources available at every time step. Thus, the system evolves as a discrete time hybrid system with the particular mode active at any time step being dictated by the processor availability. We extend our earlier work to consider the sequence in which the control inputs are calculated as a variable. In particular, we propose stochastic decision rules in which the inputs are chosen according to a Markov chain. For the LQG case, we present a Markovian jump linear system based formulation that provides analytical performance and stability expressions. For more general cases, we present a receding horizon control based implementation and illustrate the increase in performance through simulations.