相关论文: Real-time Control System Prototype for Mechanical …

We propose an integrated control architecture to address the gap that currently exists for efficient real-time implementation of MPC-based control approaches for highly nonlinear systems with fast dynamics and a large number of control…

The imposition of real-time constraints on a parallel computing environment- specifically high-performance, cluster-computing systems- introduces a variety of challenges with respect to the formal verification of the system's timing…

With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…

Modern control systems applications are often built on top of a real time operating system (RTOS) which provides the necessary hardware abstraction as well as scheduling, networking and other services. Several open source RTOS solutions are…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

Complex real-time control system is a software dense and algorithms dense system, which needs modern software engineering techniques to design. UML is an object-oriented industrial standard modeling language, used more and more in real-time…

Because most optimisations to achieve higher computational performance eventually are limited, parallelism that scales is required. Parallelised hardware alone is not sufficient, but software that matches the architecture is required to…

Control parallelism and data parallelism is mostly reasoned and optimized as separate functions. Because of this, workloads that are irregular, fine-grain and dynamic such as dynamic graph processing become very hard to scale. An…

Real-time hybrid testing is a method in which a substructure of the system is realised experimentally and the rest numerically. The two parts interact in real time to emulate the dynamics of the full system. Such experiments however are…

Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…

Numerous systems require the capability to switch their operational modes seamlessly without any disruptions. The "Synced Parallel Control Paths" method is an innovative control system architecture designed for seamless mode switching. It…

This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…

This paper is about a parallel algorithm for tube-based model predictive control. The proposed control algorithm solves robust model predictive control problems suboptimally, while exploiting their structure. This is achieved by…

This paper presents a novel approach to including non-instantaneous discrete control transitions in the linear hybrid automaton approach to simulation and verification of hybrid control systems. In this paper we study the control of a…

This paper proposes a general formulation for temporal parallelisation of dynamic programming for optimal control problems. We derive the elements and associative operators to be able to use parallel scans to solve these problems with…

We describe a particular control method for a system controlled by several actuators with the same control constants. We show under certain assumptions that the control constants for the whole system can be obtained immediately from the…

This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…

Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…

The study of controlled hybrid systems requires practical tools for approximation and comparison of system behaviors. Existing approaches to these problems impose undue restrictions on the system's continuous and discrete dynamics.…

We present a technique designed for parallelizing large rigid body simulations, capable of exploiting multiple CPU cores within a computer and across a network. Our approach can be applied to simulate both unilateral and bilateral…