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Journal Articles IEEE Transactions on Industrial Informatics Year : 2010

Design of Embedded Controllers Based on Anytime Computing

Abstract

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.

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Dates and versions

hal-00832201 , version 1 (10-06-2013)

Identifiers

  • HAL Id : hal-00832201 , version 1

Cite

Andrea Quagli, Daniele Fontanelli, Luca Greco, Luigi Palopoli, Antonio Bicchi. Design of Embedded Controllers Based on Anytime Computing. IEEE Transactions on Industrial Informatics, 2010, 6 (4), pp.492-502. ⟨hal-00832201⟩
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