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Predictive-delay control based on real-time feedback scheduling
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DOI：10.1016/j.simpat.2016.02.013.png)
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Usually in the context of integrated control and real-time scheduling, quality of control improvement is mainly based on the dynamic measurement process and the system task scheduling parameters (i.e., sampling period, execution time). In this paper, a new feedback controller based on delay prediction is proposed to overcome the degradation of quality for multi-controller systems due to scheduling delays. A statistical analysis is performed to highlight the correlation between scheduling artifacts (delays and jitters) and quality of the control. It is stated that the input-output latency has a significant influence on the quality of control. Hence, it is proposed to reduce control impairments by using a prediction of the response time to update the output. A case study consisting of the control of three servomotors is used to practically illustrate our statement. The consistency and effectiveness of the improvement are checked through the case of the control of three inverted pendulums. (C) 2016 Elsevier B.V. All rights reserved.
Keyword:
Feedback scheduling
Control sensitivity
Scheduling artifacts
Computing latency
Control jitter
Real-time
Embedded
Codesign
Statistical analysis
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