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Optimal On-line Sam...
Optimal On-line Sampling Period Assignment: Theory and Experiments
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- Cervin, Anton (author)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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Velasco, Manel (author)
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Martí, Pau (author)
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Camacho, Antonio (author)
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(creator_code:org_t)
- 2011
- 2011
- English.
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In: IEEE Transactions on Control Systems Technology. - 1558-0865. ; 19:4, s. 902-910
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http://dx.doi.org/10...
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Abstract
Subject headings
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- In embedded systems, the computing resources are often scarce and several control tasks may have to share the same computer. In this brief, we assume that a set of feedback controllers should be implemented on a single-CPU platform. We study the problem of optimal sampling period assignment, where the goal is to assign sampling rates to the controllers so that the overall control performance is maximized. We derive expressions relating the expected cost over a finite horizon to the sampling period, the computational delay, and the amount of noise acting on the plant. Based on this, we develop a feedback scheduler that periodically assigns new sampling periods based on estimates of the current plant states and noise intensities. Extensive experiments show that online sampling period assignment can deliver significantly better control performance than the state-of-the-art, static period assignment.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Cost function
- double integrator
- electrical circuits
- embedded
- systems
- feedback scheduling
- optimal control
Publication and Content Type
- art (subject category)
- ref (subject category)
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