Title :
Design and analysis of synchronization for real-time closed-loop control in robotics
Author :
Simon, Daniel ; Castaneda, Eduardo Castillo ; Freedman, Paul
Author_Institution :
INRIA, Sophia-Antipolis, France
fDate :
7/1/1998 12:00:00 AM
Abstract :
In the framework of the ORCCAD system, periodic and multirate control laws are implemented in terms of a set of computing tasks to be executed under a real-time operating system. Simulations and experiments demonstrate that partially synchronizing such tasks can improve the practical performance of the implementation. However, using synchronizations may lead to dead-locks or temporal inconsistencies. In this paper, we examine the consequences of introducing such synchronization in terms of structural and temporal problems which may occur and how they may be detected using Petri net modeling and analysis. We conclude with some guidelines about how to add such synchronization to design deadlock-free and efficient implementations of real-time periodic control laws
Keywords :
Petri nets; closed loop systems; control system CAD; periodic control; program verification; real-time systems; robots; software tools; synchronisation; CAD; ORCCAD system; Petri net modeling; closed-loop systems; multirate control; multitasking; periodic control; real-time systems; robots; software tools; software verification; synchronization; Automatic control; Control systems; Delay; Operating systems; Performance analysis; Real time systems; Robot control; Robot programming; Robotics and automation; Sampling methods;
Journal_Title :
Control Systems Technology, IEEE Transactions on