Designing real-time embedded controllers using the anytime computing paradigm

Abstract : In this paper we present a methodology for designing embedded controllers with a variable accuracy. The adopted paradigm is the so called any-time control, which derives from the computing paradigm known as "imprecise computation". The most relevant contributions of the paper are a procedure for designing an incremental control law, whose different pieces cater for increasingly aggressive control requirements, and a modelling technique for the execution platform that allows us to design provably correct switching policies for the controllers. The methodology is validated by both simulations and experimental results.
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Andrea Quagli, Daniele Fontanelli, Luca Greco, Luigi Palopoli, Antonio Bicchi. Designing real-time embedded controllers using the anytime computing paradigm. 2009 IEEE Conference on Emerging Technologies & Factory Automation , Sep 2009, Mallorca, Spain. pp.1 - 8 ⟨10.1109/ETFA.2009.5347086⟩. ⟨hal-01322836⟩



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