Anytime iterative optimal control using fuzzy feedback scheduler

Authors:
Feng Xia;Youxian Sun
Affiliations:
National Laboratory of Industrial Control Technology, Institute of Modern Control Engineering, Zhejiang University, Hangzhou, China;National Laboratory of Industrial Control Technology, Institute of Modern Control Engineering, Zhejiang University, Hangzhou, China
Venue:
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part II
Year:
2005

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Abstract

From a viewpoint of integrating control and scheduling, the impact of resource availability constraints on the implementation of iterative optimal control (IOC) algorithms is considered. As a novel application in the emerging field of feedback scheduling, fuzzy technology is employed to construct a feedback scheduler intended for anytime IOC applications. Thanks to the anytime nature of the IOC algorithm, it is possible to abort the optimization routine before it reaches the optimum. The maximum iteration number within the IOC algorithm is dynamically adjusted to achieve a desired CPU utilization level. Thus a tradeoff is done between the available CPU time and the quality of control. Preliminary simulation results argue that the proposed approach is effective in managing the inherent uncertainty in control task execution and delivers better performance than traditional IOC algorithm in computing resource constrained environments.