TY - CONF T1 - Anytime Control Algorithms for Real-Time Embedded Systems T2 - Int Conf of Hybrid Systems: Computation and Control Y1 - 2008 A1 - D. Fontanelli A1 - L. Greco A1 - A. Bicchi ED - M. Egerstedt ED - B. Mishra KW - Embedded Control KW - Robotics AB -

In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an ``anytime control'' design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.

JF - Int Conf of Hybrid Systems: Computation and Control T3 - Lecture Notes in Computer Science PB - Springer-Verlag CY - St. Louis, MO VL - 4981/2008 ER -