Control and Real-time Scheduling Co-design : Application to Robust Robot Control

Daniel Simon (1) , David Robert (1, 2) , Olivier Sename (1, 2)

1 POP ART - Programming languages, Operating Systems, Parallelism, and Aspects for Real-Time
2 LAG - Laboratoire d'automatique de Grenoble

Control systems running on a computer are subject to timing disturbances coming from implementation constraints. Fortunately closed-loop systems behave robustly w.r.t. modelling errors and disturbances, and the controller design can be performed to explicitly enhance robustness against specific uncertainties. On one hand robustness in process controllers can be used to comply with weakly modelled timing uncertainties. On the other hand the principle of robust closed-loop control can also be applied to the real-time scheduler to provide on-line adaption of some scheduling parameters, with the objective of controlling the computing resource allocation. The control performance specification may be set according to both control and implementation constraints. The approach is illustrated through several examples using simulation and an experimental feedback scheduler is briefly described.

Domaines: Automatique

Daniel Simon, David Robert, Olivier Sename. Control and Real-time Scheduling Co-design : Application to Robust Robot Control. 3rd Taiwanese-French Conference on Information Technology TFIT'06, Mar 2006, Nancy, France. ⟨inria-00385253⟩