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Optimal On-line Sampling Period Assignment: Theory and Experiments

Cervin, Anton LU ; Velasco, Manel; Martí, Pau and Camacho, Antonio (2011) In IEEE Transactions on Control Systems Technology 19(4). p.902-910
Abstract
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... (More)
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. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Cost function, double integrator, electrical circuits, embedded, systems, feedback scheduling, optimal control
in
IEEE Transactions on Control Systems Technology
volume
19
issue
4
pages
902 - 910
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • wos:000291808700017
  • scopus:79959608733
ISSN
1558-0865
DOI
10.1109/TCST.2010.2053205
language
English
LU publication?
yes
id
e4ced24a-dd84-4918-b5a4-f0d248653f19 (old id 2052663)
date added to LUP
2011-07-26 12:19:31
date last changed
2017-10-22 04:21:58
@article{e4ced24a-dd84-4918-b5a4-f0d248653f19,
  abstract     = {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.},
  author       = {Cervin, Anton and Velasco, Manel and Martí, Pau and Camacho, Antonio},
  issn         = {1558-0865},
  keyword      = {Cost function,double integrator,electrical circuits,embedded,systems,feedback scheduling,optimal control},
  language     = {eng},
  number       = {4},
  pages        = {902--910},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  series       = {IEEE Transactions on Control Systems Technology},
  title        = {Optimal On-line Sampling Period Assignment: Theory and Experiments},
  url          = {http://dx.doi.org/10.1109/TCST.2010.2053205},
  volume       = {19},
  year         = {2011},
}