TitleAlmost Sure Stability of Anytime Controllers via Stochastic Scheduling
Publication TypeConference Paper
Year of Publication2007
Conference NameProc. IEEE Int. Conf. on Decision and Control
Date PublishedDecember
Publication Languageeng
AuthorsGreco, L, Fontanelli, D, Bicchi, A
KeywordsEmbedded Control, Robotics

In this paper we consider scheduling the execution of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant. Controllers are considered to be given and ordered according to a measure of the performance they provide. Software tasks implementing higher-performance controllers are assumed to require a larger worst-case execution time. Control tasks are to be scheduled within given availability limits on execution time, which change stochastically in time. The ensuing switching system is prone to instability, unless a very conservative policy is enforced of always using the simplest, least performant controller. The presented method allows to condition the stochastic scheduling of control tasks so as to obtain a better exploitation of computing capabilities, while guaranteeing almost sure stability of the resulting switching system.

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