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.

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

Andrea Bonci
Membro del Collaboration Group
;
Giacomo Nabissi
Membro del Collaboration Group
;
Giuseppe Antonio Scala
Membro del Collaboration Group
2020

Abstract

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.
PROCEEDINGS OF THE 25th IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA20)
978-1-7281-8956-7
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11566/284700
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