hal-00649287, version 1
Analysis of the Discontinuities in Prioritized Tasks-Space Control Under Discrete Task Scheduling Operations
François Keith a, 1Pierre-Brice Wieber
a, 1Nicolas Mansard b, 2Abderahmanne Kheddar 3, 4
IEEE/RSJ International Conference on Intelligent Robots and Systems (2011)
Résumé : This paper examines the control continuity in hierarchical task-space controllers. While the continuity is ensured for any a priori fixed number of tasks -even in ill-conditioned configurations-, the control resulting from a hierarchical stack-of-task computation may not be continuous under some discrete events. In particular, we study how the continuity of the stack-of-task control computation is affected under discreet scheduling operations such as on-the-fly priority switching between tasks, or tasks insertion and removal, which changes the number of tasks in the stack controller. Different ways to formulate a hierarchy of tasks are presented together with their continuity properties, which is thoroughly analyzed under such discreet scheduling operations.
- a – INRIA
- b – Ecole Normale Supérieure de Cachan
- 1 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
- INRIA – Laboratoire Jean Kuntzmann
- 2 : Laboratoire d'analyse et d'architecture des systèmes (LAAS)
- CNRS : UPR8001 – Université Paul Sabatier - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées de Toulouse
- 3 : Joint Robotics Laboratory AIST & CNRS (JRL)
- AIST – CNRS : UMI3218
- 4 : Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM)
- CNRS : UMR5506 – Université Montpellier II - Sciences et Techniques du Languedoc
- Domaine : Informatique/Robotique
- hal-00649287, version 1
- http://hal.inria.fr/hal-00649287
- oai:hal.inria.fr:hal-00649287
- Contributeur : Pierre-Brice Wieber
- Soumis le : Mercredi 7 Décembre 2011, 15:33:10
- Dernière modification le : Vendredi 9 Décembre 2011, 11:55:19
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