inria-00498394, version 1
Automatic generation of discrete handlers of real-time continuous control tasks
Ahmed Soufyane Aboubekr
a, 1Gwenaël Delaval
a, 1Roger Pissard-Gibollet a, 2Éric Rutten
a, 1Daniel Simon
a, 3, 4
N° RR-7332 (2010)
Résumé : We present a novel technique for designing discrete, logical control loops, on top of continuous control tasks, ensuring logical safety properties of the tasks sequencings and mode changes. We define this new handler on top of the real-time executives built with the Orccad design environment for control systems, which is applied, e.g. to robotics and real-time networked control. It features structures of control tasks, each equipped with a local automaton, used for the reactive, event-based management of its activity and modes. The additional discrete handler manages the interactions between tasks, concerning, e.g., mutual exclusions, forbidden or imposed sequences. We use a new reactive programming language, with constructs for finite-state machines and data-flow nodes, and a mechanism of behavioural contracts, which involves discrete controller synthesis. The result is a discrete control loop, on top of the continuous control loops, all integrated in a coherent real-time architecture. Our approach is illustrated and validated experimentally with the case study of a robot arm.
- a – INRIA
- 1 : SARDES (INRIA Grenoble Rhône-Alpes / LIG Laboratoire d'Informatique de Grenoble)
- INRIA – Institut National Polytechnique de Grenoble (INPG) – Université Joseph Fourier - Grenoble I – Université Pierre Mendès-France - Grenoble II – CNRS : UMR5217
- 2 : INRIA Rhône-Alpes (INRIA Grenoble Rhône-Alpes)
- INRIA
- 3 : NeCS (INRIA Grenoble Rhône-Alpes / Gipsa-lab)
- CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG)
- 4 : Grenoble Images Parole Signal Automatique (GIPSA-lab)
- CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology
- Domaine : Informatique/Systèmes embarqués
Informatique/Automatique - Mots-clés : real-time control – adaptive systems – reactive programming – discrete controller synthesis
- Référence interne : RR-7332
- inria-00498394, version 1
- http://hal.inria.fr/inria-00498394
- oai:hal.inria.fr:inria-00498394
- Contributeur : Ahmed Soufyane Aboubekr
- Soumis le : Jeudi 8 Juillet 2010, 13:20:37
- Dernière modification le : Jeudi 29 Juillet 2010, 16:06:28






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