In this paper, we present a methodology for designing embedded controllers based on the so-called anytime control paradigm. A control law is split into a sequence of subroutine calls, each one fulfilling a control goal and refining the result produced by the previous one. We propose a design methodology to define a feedback controller structured in accordance with this paradigm and show how a switching policy of selecting the controller subroutines can be designed that provides stability guarantees for the closed-loop system. The cornerstone of this construction is a stochastic model describing the probability of executing, in each activation of the controller, the different subroutines. We show how this model can be constructed for realistic real-time task sets and provide an experimental validation of the approach.
|Autori:||A. QUAGLI; D. FONTANELLI; L. GRECO; L. PALOPOLI; BICCHI A|
|Titolo:||Design of Embedded Controllers Based on Anytime Computing|
|Anno del prodotto:||2010|
|Digital Object Identifier (DOI):||10.1109/TII.2010.2055878|
|Appare nelle tipologie:||1.1 Articolo in rivista|