Scheduling of Controllers’ Update-Rates for Residual Bandwidth Utilization

详细信息    查看全文

• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9884
• 期：1
• 页码：85-101
• 全文大小：717 KB
• 参考文献：1.Angeli, D., Sontag, E.D.: Forward completeness, unboundedness observability, and their Lyapunov characterizations. Syst. Control Lett. 38, 209–217 (1999)MathSciNet CrossRef MATH
  2.Anta, A., Tabuada, P.: To sample or not to sample: self-triggered control for nonlinear systems. IEEE Trans. Autom. Control 55(9), 2030–2042 (2010)MathSciNet CrossRef
  3.Behrmann, G., Fehnker, A., Hune, T., Larsen, K.G., Pettersson, P., Romijn, J.M.T., Vaandrager, F.W.: Minimum-cost reachability for priced timed automata. In: Di Benedetto, M.D., Sangiovanni-Vincentelli, A.L. (eds.) HSCC 2001. LNCS, vol. 2034, pp. 147–161. Springer, Heidelberg (2001)CrossRef
  4.Branicky, M.S.: Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Trans. Autom. Control 43(4), 475–482 (1998)MathSciNet CrossRef MATH
  5.Cervin, A., Velasco, M., Marti, P., Camacho, A.: Optimal online sampling period assignment: theory and experiments. IEEE Trans. Control Syst. Technol. 6(4), 902–910 (2011)CrossRef
  6.Chakraborty, S., Künzli, S., Thiele, L.: A general framework for analysing system properties in platform-based embedded system designs. In: DATE, vol. 3, p. 10190 (2003)
  7.D’Innocenzo, A., Weiss, G., Alur, R., Isaksson, A.J., Johansson, K.H., Pappas, G.J.: Scalable scheduling algorithms for wireless networked control systems. In: IEEE International Conference on Automation Science and Engineering, CASE, pp. 409–414. IEEE (2009)
  8.Goswami, D., Masrur, A., Schneider, R., Xue, C.J., Chakraborty, S.: Multirate controller design for resource-and schedule-constrained automotive ECUs. In: Proceedings of the Conference on Design, Automation and Test in Europe, pp. 1123–1126. EDA Consortium (2013)
  9.Greco, L., Fontanelli, D., Bicchi, A.: Design and stability analysis for anytime control via stochastic scheduling. IEEE Trans. Autom. Control 56(3), 571–585 (2011)MathSciNet CrossRef
  10.Green, M., Limebeer, D.J.N.: Linear Robust Control. Prentice Hall, Englewood Cliffs (1994)MATH
  11.Hespanha, J.P., et al.: Stability of switched systems with average dwell-time. In: Proceedings of the 38th IEEE Conference on Decision and Control, vol. 3, pp. 2655–2660. IEEE (1999)
  12.Khalil, H.K.: Nonlinear Systems, 2nd edn. Prentice-Hall Inc., New Jersey (1996)
  13.Larsen, K.G.: Priced timed automata: theory and tools. In: IARCS Annual Conference on Foundations of Software Technology and Theoretical Computer Science, FSTTCS, pp. 417–425 (2009)
  14.Nešic, D., Teel, A., Carnevale, D.: Explicit computation of the sampling period in emulation of controllers for nonlinear sampled-data systems. IEEE Trans. Autom. Control 54(3), 619–624 (2009)MathSciNet CrossRef
  15.Nešić, D., Teel, A.R., Kokotović, P.: Sufficient conditions for stabilization of sampled-data nonlinear systems via discrete-time approximations. Syst. Control Lett. 38(4), 259–270 (1999)MathSciNet MATH
  16.Quagli, A., Fontanelli, D., Greco, L., Palopoli, L., Bicchi, A.: Design of embedded controllers based on anytime computing. IEEE Trans. Ind. Inf. 6(4), 492–502 (2010)CrossRef
  17.Raha, R., Hazra, A., Mondal, A., Dey, S., Chakrabarti, P.P., Dasgupta, P.: Synthesis of sampling modes for adaptive control. In: IEEE International Conference on Control System, Computing and Engineering (ICCSCE), pp. 294–299. IEEE (2014)
  18.Rasmussen, J.I., Larsen, K.G., Subramani, K.: Resource-optimal scheduling using priced timed automata. In: Jensen, K., Podelski, A. (eds.) TACAS 2004. LNCS, vol. 2988, pp. 220–235. Springer, Heidelberg (2004)CrossRef
  19.Sharifi-Kolarijani, A., Adzkiya, D., Mazo, M., Jr.: Symbolic abstractions for the scheduling of event-triggered control systems. In: Proceedings of 54st IEEE Conference on Decision and Control, Osaka, Japan, December 2015
  20.Sontag, E.D.: Mathematical Control Theory, vol. 6, 2nd edn. Springer, New York (1998)
  21.Sontag, E.D.: Input to state stability: basic concepts and results. In: Nistri, P., Stefani, G. (eds.) Nonlinear and Optimal Control Theory. Lecture Notes in Mathematics, vol. 1932, pp. 163–220. Springer, Berlin (2008)CrossRef
  22.Tabuada, P.: Event-triggered real-time scheduling of stabilizing control tasks. IEEE Trans. Autom. Control 52(9), 1680–1685 (2007)MathSciNet CrossRef
  23.Thiele, L., Chakraborty, S., Naedele, M.: Real-time calculus for scheduling hard real-time systems. In: IEEE International Symposium on Circuits, Systems. Emerging Technologies for the 21st Century, vol. 4, pp. 101–104 (2000)
  24.Weiss, G., Alur, R.: Automata based interfaces for control and scheduling. In: Bemporad, A., Bicchi, A., Buttazzo, G. (eds.) HSCC 2007. LNCS, vol. 4416, pp. 601–613. Springer, Heidelberg (2007)CrossRef
  25.Wiesbaden, S.A.M.: Autosar – The worldwide automotive standard for E/E systems. ATZextra worldwide 18(9), 5–12 (2013)
  
• 作者单位：Majid Zamani (15)
  Soumyajit Dey (16)
  Sajid Mohamed (16)
  Pallab Dasgupta (16)
  Manuel Mazo Jr. (17)
  
  15. Technical University of Munich, Munich, Germany
  16. Indian Institute of Technology, Kharagpur, India
  17. Delft University of Technology, Delft, The Netherlands
  
• 丛书名：Formal Modeling and Analysis of Timed Systems
• ISBN：978-3-319-44878-7
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9884

文摘

We consider the problem of incorporating control tasks on top of a partially loaded shared computing resource, whose current task execution pattern is characterizable using a window based pattern. We consider that the control task to be scheduled is allowed to switch between multiple controllers, each with different associated sampling rate, in order to adjust its requirement of computational bandwidth as per availability. We provide a novel control theoretic analysis that derives a Timed Automata (TA) based specification of allowable switchings among the different controller options while retaining the asymptotic stability of the closed loop. Our scheduling scheme computes a platform level residual bandwidth pattern from individual task level execution patterns. We then leverage the TA based controller specification and the residual bandwidth pattern in order to synthesize a Linearly Priced Timed Automata for which the minimum cost reachability solution provides realizable multi-rate control schedules. The provided scheduler not only guarantees the asymptotic stability of the control loop but also increases the robustness and control performance of the implementation by maximizing the bandwidth utilization.