Abstract
A self-triggered control task is one in which the task determines its next release time. It has been conjectured that self-triggering can relax the requirements on a real-time scheduler while maintaining application (i.e. control system) performance. This paper presents preliminary results supporting that conjecture for a self-triggered real-time system implementing full-information \({\mathcal H}_{\infty}\) controllers. Release times are selected to enforce upper bounds on the induced \({\mathcal L}_2\) gain of a linear feedback control system. These release times are treated as requests by the system scheduler, which then assigns actual release times using Buttazzo’s elastic scheduling algorithm. Preliminary experimental results from a Matlab stateflow simulink model demonstrated a remarkable robustness to scheduling delays induced by real-time schedulers. These results show that self-triggered controllers are indeed able to maintain acceptable levels of application performance during prolonged periods of processor overloading.
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Lemmon, M., Chantem, T., Hu, X.S., Zyskowski, M. (2007). On Self-triggered Full-Information H-Infinity Controllers. In: Bemporad, A., Bicchi, A., Buttazzo, G. (eds) Hybrid Systems: Computation and Control. HSCC 2007. Lecture Notes in Computer Science, vol 4416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-71493-4_30
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DOI: https://doi.org/10.1007/978-3-540-71493-4_30
Publisher Name: Springer, Berlin, Heidelberg
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