Hard Real Time embedded solution for Execution Time analysis of non-linear control laws

In Soft Real-Time (SRT) or Hard Real-Time (HRT) applications, the behaviour of the computing system must be predictable at design phase because it impacts on the design itself. Nowadays, hardware architectures are able to provide higher performance and guarantee temporal determinism but few works in...

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Bibliographic Details
Main Authors: Bonci, Andrea, Nabissi, Giacomo, Scala, Giuseppe Antonio
Format: Conference Proceeding
Language:English
Subjects:
control algorithm analysis
Hard Real-Time implementation
Hardware
Nonlinear control
Optical wavelength conversion
Optimal control
Prediction algorithms
Real-time systems
Regulation
Riccati equations
UGV
WCET analysis
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Summary:In Soft Real-Time (SRT) or Hard Real-Time (HRT) applications, the behaviour of the computing system must be predictable at design phase because it impacts on the design itself. Nowadays, hardware architectures are able to provide higher performance and guarantee temporal determinism but few works investigate the computational effort required by control algorithms implementation. This preliminary work aims to be a first step towards a novel analysis of performances and Worst-Case Execution Time (WCET) which can be useful to compare different control techniques and for evaluating also the complexity of the algorithms. To this purpose, a mobile robot consisting of motorized cart-pendulum has been built and it has been equipped with an HRT hardware platform where a nonlinear State Dependent Riccati Equation (SDRE) technique has been implemented.
ISSN:1946-0759
DOI:10.1109/ETFA46521.2020.9211964