|Title||Quantised Control in Distributed Embedded Systems. |
|Publication Type||Conference Paper |
|Year of Publication||2004 |
|Conference Name||Proc. 16th Int. Symp. on Mathematical Theory of Networks and Systems |
|Publication Language||eng |
|Authors||Bicchi, A, Johansson, KH, Palopoli, L, Picasso, B |
|Keywords||Embedded Control, Robotics |
Traditional control design is based on ideal assumptions concerning the amount, type and accuracy of the information flow that can be circulated across the controller. Unfortunately, real implementation platforms exhibit non-idealities that may substantially invalidate such assumptions. As a result, the systems closed-loop performance can be severely affected and sometimes stability itself is jeopardised. These problems show up with particular strength when multiple feedback loops share a limited pool of computation and communication resources. In this case the designer is confronted with the challenging task of choosing at the same time the control law and the optimal allocation policy for the shared resources (control algortihm/system architecture co-design).