Optimal On-line Sampling Period Assignment: Theory and Experiments
(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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2052663
- author
- Cervin, Anton LU ; Velasco, Manel ; Martí, Pau and Camacho, Antonio
- organization
- publishing date
- 2011
- 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
- additional info
- key=cer+10
- id
- e4ced24a-dd84-4918-b5a4-f0d248653f19 (old id 2052663)
- date added to LUP
- 2016-04-01 14:35:42
- date last changed
- 2024-04-10 21:57:04
@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}}, keywords = {{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}}, doi = {{10.1109/TCST.2010.2053205}}, volume = {{19}}, year = {{2011}}, }