Synchronous composition of discretized control actions: design, verification and implementation with ORCCAD

Daniel Simon (1) , Roger Pissard-Gibollet (2) , Konstantin Kapellos (3) , Bernard Espiau (3)

1 ICARE - Instrumentation, control and architecture of advanced robots
2 SED [Grenoble] - Service Expérimentation et Développement
3 BIP - Biped Robot

Robotic systems are typical examples of hybrid systems where continuous time aspects, related to control laws, must be carefully merged with discrete-time aspects related to control switches and exception handling. These two aspects interact in real-time to ensure an efficient nominal behavior of the system together with safe and graceful degradation otherwise. In a mixed synchronous/asynchronous approach, ranging from user's requirements to run-time code, ORCADD provides formalized control structures, the coordination of which is specified using the ESTEREL synchronous language and formally verified using the FC2TOOLS package. CAD tools have been designed and integrated to help the users along the steps of programming, verification and implementation processes

Mots clés: control system CAD; exception handling; formal specification; parallel languages; program verification; real-time systems; robots; CAD tools; ESTEREL; FC2TOOLS package; ORCCAD; asynchronous approach; continuous time system; control laws; control switches; discrete-time system; discretized control actions; hybrid systems; programming; real-time; robotic systems; run-time code; synchronous approach; synchronous language; Automatic control; Computer science; Control systems; Data processing; Degradation; Real time systems; Robot kinematics; Robot programming; Robot sensing systems; Robotics and automation

Domaines: Robotique [cs.RO]

Daniel Simon, Roger Pissard-Gibollet, Konstantin Kapellos, Bernard Espiau. Synchronous composition of discretized control actions: design, verification and implementation with ORCCAD. Real-Time Computing Systems and Applications, 1999. RTCSA '99. Sixth International Conference on, 1999, Hong Kong, China. pp.158-165. ⟨hal-00930120⟩