We address the problem of synthesising real-time embedded controllers taking into account constraints deriving from the implementation platform. Assuming a time-triggered model of computation for tasks controlling a set of independent systems and a real-time preemptive scheduling policy managing a single CPU processor board, we deal with two problems: 1- deciding whether a performance specification can be met on a given platform, 2- optimising performance on a platform. Decision variables of the design problems are the activation periods of the tasks , while the considered performance metric is the minimum stability radius attained over the different feedback loops, which is related to the technological feasibility of the controller and to the robustness of the controlled systems. The analytical formulation of the design problems enables efficient numerical solutions. The resulting control policies are directly implementable without performance degradation that may otherwise arise due to scheduling and execution delays.

VL - 50 ER - TY - CONF T1 - Numerically efficient control of systems with communication constraints T2 - Proc. IEEE Int. Conf. on Decision and Control Y1 - 2002 A1 - L. Palopoli A1 - A. Bicchi A1 - A. L. Sangiovanni-Vincentelli KW - Embedded Control KW - Robotics AB -The problem of stabilization to the trivial equilibrium of a system with communication constraints is addressed. The communication constraints are related to the fact that commands are issued to different groups of actuators through a shared resource. We tackle the problem by using a Model Predictive Control scheme, which,at every step, decides the allocation of the bus {\em and} he control command values. After discussing two different alternatives for dealing with the scheduling constraints, we develop a formulation based on the generalized linear complementarity problem, which enables the application of efficient numerical solutions. Finally, we give some preliminary result on the parametric dependence of the problem's solution from the system's state.

JF - Proc. IEEE Int. Conf. on Decision and Control ER - TY - CHAP T1 - Synthesis of robust control systems under resource constraints T2 - Hybrid Systems: Computation and Control Y1 - 2002 A1 - L. Palopoli A1 - C. Pinello A1 - A. L. Sangiovanni-Vincentelli A1 - L. El-Ghaoui A1 - A. Bicchi ED - M. Greenstreet ED - C. Tomlin KW - Embedded Control KW - Robotics JF - Hybrid Systems: Computation and Control T3 - Lecture Notes in Computer Science PB - Springer-Verlag CY - Heidelberg, Germany VL - LNCS 2289 ER - TY - CHAP T1 - Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle T2 - Hybrid Systems: Computation and Control Y1 - 2001 A1 - A. Balluchi A1 - P. SouĂ¨res A1 - A. Bicchi ED - Di Benedetto, M. D. ED - A. L. Sangiovanni-Vincentelli KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Hybrid Systems: Computation and Control T3 - Lecture Notes in Computer Science PB - Springer-Verlag CY - Heidelberg, Germany VL - 2034 ER - TY - CONF T1 - Hybrid Tracking Control for Spark-Ignition Engines T2 - Proc. 39th IEEE Conference on Decision and Control Y1 - 2000 A1 - A. Balluchi A1 - A. Bicchi A1 - C. Caterini A1 - C. Rossi A1 - A. L. Sangiovanni-Vincentelli KW - Automotive KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems JF - Proc. 39th IEEE Conference on Decision and Control CY - Sydney, NSW, Australia VL - 4 ER - TY - CONF T1 - Hybrid Optimization Problems in Automotive Applications T2 - Proc. IFAC International Workshop on Motion Control Y1 - 1998 A1 - A. Balluchi A1 - A. Bicchi A1 - G. Padroni A1 - C. Rossi A1 - A. L. Sangiovanni-Vincentelli KW - Automotive KW - Hybrid and Embedded Control Systems JF - Proc. IFAC International Workshop on Motion Control CY - Grenoble, France N1 - (invited paper) ER -