Control and Real-time Scheduling Co-design : Application to Robust Robot Control

Abstract : Control systems running on a computer are subject to timing disturbances coming from implementation constraints. Fortunately closed-loop systems behave robustly w.r.t. modelling errors and disturbances, and the controller design can be performed to explicitly enhance robustness against specific uncertainties. On one hand robustness in process controllers can be used to comply with weakly modelled timing uncertainties. On the other hand the principle of robust closed-loop control can also be applied to the real-time scheduler to provide on-line adaption of some scheduling parameters, with the objective of controlling the computing resource allocation. The control performance specification may be set according to both control and implementation constraints. The approach is illustrated through several examples using simulation and an experimental feedback scheduler is briefly described.
Type de document :
Communication dans un congrès
3rd Taiwanese-French Conference on Information Technology TFIT'06, Mar 2006, Nancy, France. 2006
Liste complète des métadonnées

Littérature citée [20 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00385253
Contributeur : Daniel Simon <>
Soumis le : lundi 18 mai 2009 - 18:12:05
Dernière modification le : jeudi 11 janvier 2018 - 06:15:57
Document(s) archivé(s) le : jeudi 10 juin 2010 - 23:23:36

Fichier

tfit06.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00385253, version 1

Collections

INRIA | LAG | UGA

Citation

Daniel Simon, David Robert, Olivier Sename. Control and Real-time Scheduling Co-design : Application to Robust Robot Control. 3rd Taiwanese-French Conference on Information Technology TFIT'06, Mar 2006, Nancy, France. 2006. 〈inria-00385253〉

Partager

Métriques

Consultations de la notice

260

Téléchargements de fichiers

140