Dynamic Scheduling and Control-Quality Optimization of Self-Triggered Control Applications

Time-triggered periodic control implementations are over provisioned for many execution scenarios in which the states of the controlled plants are close to equilibrium. To address this inefficient use of computation resources, researchers have proposed self-triggered control approaches in which the control task computes its execution deadline at runtime based on the state and dynamical properties of the controlled plant. The potential advantages of this control approach cannot, however, be achieved without adequate online resource-management policies. This paper addresses scheduling of multiple self-triggered control tasks that execute on a uniprocessor platform, where the optimization objective is to find trade-offs between the control performance and CPU usage of all control tasks. Our experimental results show that efficiency in terms of control performance and reduced CPU usage can be achieved with the heuristic proposed in this paper.

[1]  George A. Perdikaris.  Computer Controlled Systems , 1991 .

[2]  William H. Press,et al.  Numerical Recipes in C, 2nd Edition , 1992 .

[3]  Karl Johan Åström,et al.  Computer-controlled systems (3rd ed.) , 1997 .

[4]  K. Åström,et al.  Comparison of Periodic and Event Based Sampling for First-Order Stochastic Systems , 1999 .

[5]  William H. Press,et al.  Numerical recipes in C , 2002 .

[6]  K.-E. Arzen,et al.  How does control timing affect performance? Analysis and simulation of timing using Jitterbug and TrueTime , 2003, IEEE Control Systems.

[7]  Manel Velasco,et al.  The Self Triggered Task Model for Real-Time Control Systems , 2003 .

[8]  Manel Velasco,et al.  Managing quality-of-control in network-based control systems by controller and message scheduling co-design , 2004, IEEE Transactions on Industrial Electronics.

[9]  Karl-Erik Årzén,et al.  Feedback–Feedforward Scheduling of Control Tasks , 2002, Real-Time Systems.

[10]  Paulo Tabuada,et al.  Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks , 2007, IEEE Transactions on Automatic Control.

[11]  Giorgio C. Buttazzo,et al.  Quality-of-Control Management in Overloaded Real-Time Systems , 2007, IEEE Transactions on Computers.

[12]  Karl Johan Åström,et al.  Event Based Control , 2008 .

[13]  Anton Cervin,et al.  Scheduling of event-triggered controllers on a shared network , 2008, 2008 47th IEEE Conference on Decision and Control.

[14]  Enrico Bini,et al.  Control-Driven Tasks: Modeling and Analysis , 2008, 2008 Real-Time Systems Symposium.

[15]  W. P. M. H. Heemels,et al.  Analysis of event-driven controllers for linear systems , 2008, Int. J. Control.

[16]  A. Anta,et al.  Self-triggered stabilization of homogeneous control systems , 2008, 2008 American Control Conference.

[17]  Anton Cervin,et al.  Sporadic event-based control of first-order linear stochastic systems , 2008, Autom..

[18]  Petru Eles,et al.  Integrated scheduling and synthesis of control applications on distributed embedded systems , 2009, 2009 Design, Automation & Test in Europe Conference & Exhibition.

[19]  Xiaofeng Wang,et al.  Self-Triggered Feedback Control Systems With Finite-Gain ${\cal L}_{2}$ Stability , 2009, IEEE Transactions on Automatic Control.

[20]  Paulo Tabuada,et al.  On the Benefits of Relaxing the Periodicity Assumption for Networked Control Systems over CAN , 2009, 2009 30th IEEE Real-Time Systems Symposium.

[21]  Manuel Mazo,et al.  Input-to-state stability of self-triggered control systems , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[22]  Petru Eles,et al.  Quality-driven synthesis of embedded multi-mode control systems , 2009, 2009 46th ACM/IEEE Design Automation Conference.

[23]  A. Astolfi,et al.  Analysis and Design of Nonlinear Control Systems: In Honor of Alberto Isidori , 2010 .