TitleDesign of Embedded Controllers Based on Anytime Computing
Publication TypeJournal Article
Year of Publication2010
AuthorsQuagli, A, Fontanelli, D, Greco, L, Palopoli, L, Bicchi, A
JournalIEEE Trans. Industrial Infor.
Pagination492 - 502
KeywordsEmbedded Control, Robotics

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.

Refereed DesignationRefereed
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