On Dynamic Real-Time Scheduling of Model Predictive Controllers

• The paper discusses dynamic real-time scheduling in the context ofmodel predictive control (MPC). Dynamic scheduling in this settingis motivated by the highly varying execution times associated withMPC controllers. Premature termination of the optimization algorithmis exploited to trade off prolonged computations versuscomputational delay. A feedback scheduling strategy for multiple MPCcontrollers is also proposed, where the scheduler allocates CPU timeto the tasks according to the current values of the cost functions.Simulated examples show how the overall control performance maybenefit from the application of the proposed schemes.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

optimisation

feedback

processor scheduling

predictive control

delays

real-time systems

Publikations- och innehållstyp

kon (ämneskategori)

ref (ämneskategori)