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A LPV approach to control and real-time scheduling codesign: application to a robot-arm control

Olivier Sename 1 Daniel Simon 2 Mohamed El Mongi Ben Gaïd 3 
1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse
GIPSA-DA - Département Automatique
2 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This paper deals with real-time control under computational constraints. A robust control approach to control/real-time scheduling co-design is proposed using the $H_\infty$ framework for Linear Parameter Varying (LPV) polytopic systems. The originality consists in a new resource sharing between control tasks according to the controlled plant performances. Here the varying parameters are images of the control performance w.r.t. the sampling frequencies. Then a LPV based feedback scheduler is designed to adapt the control tasks periods according to the plant behavior and to the availability of computing resources. The approach is illustrated with a robot-arm controller design, whose feasibility is assessed in simulation.
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Submitted on : Thursday, March 12, 2009 - 9:45:03 AM
Last modification on : Thursday, January 20, 2022 - 5:29:15 PM
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  • HAL Id : inria-00367679, version 1



Olivier Sename, Daniel Simon, Mohamed El Mongi Ben Gaïd. A LPV approach to control and real-time scheduling codesign: application to a robot-arm control. CDC 2008 - 47th IEEE Conference on Decision and Control, IEEE, Dec 2008, Cancun, Mexico. ⟨inria-00367679⟩



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