Dynamic scheduling for networked control systems
Dynamic scheduling for networked control systems
复制标题
网络控制系统的动态调度
DOI：
10.1145/2728606.2728636
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
R. Majumdar
中科院分区：
文献类型：
--
作者：
I. Saha;Sanjoy Baruah;R. Majumdar
一个综合的方法，包括控制和调度理论，提出了实现多个控制回路上共享的网络和计算资源，其中网络可能会额外引入数据包丢失。每个控制系统首先从控制理论的角度进行分析，以确定控制信号必须计算，以保持稳定性和最佳性能，尽管网络损耗的渐近速率。由于控制任务所需的完成率是渐近的，并且网络分组丢弃不确定，因此在共享计算资源上调度多个这样的控制任务的问题不映射到实时调度中的已知问题。因此，它在这里被形式化为一种新形式的周期性任务调度问题-其中每个任务都有一个相关的渐近完成率要求。针对这类调度问题，给出了可并行性的充分条件，并设计了一种动态调度算法。因此，这种集成的方法提供了一种有效的方式，将网络损耗的综合架构的网络物理系统的设计。这种方法的使用说明，其功效证明，在一个例子系统的五个倒置的pumps。
An integrated approach, embracing both control and scheduling theories, is proposed to implement multiple control loops upon shared network and computational resources, where the network may additionally introduce packet losses. Each control system is first analyzed from a control-theoretic perspective in order to determine the asymptotic rate at which control signals must be computed to maintain stability and optimal performance despite network losses. Since required completion rates for control tasks are asymptotic, and network packet drops uncertain, the problem of scheduling multiple such control tasks upon shared computational resources does not map to known problems in real-time scheduling. It is therefore formalized here as a new form of periodic task scheduling problem -- one in which each task has an associated asymptotic completion rate requirement. Sufficient schedulability conditions are derived, and a dynamic scheduling algorithm designed, for solving such scheduling problems. This integrated methodology thus provides an effective way to incorporate network loss in the design of cyber-physical systems over integrated architectures. The use of this methodology is illustrated, and its efficacy demonstrated, upon an example system of five inverted pendulums.