400,655 research outputs found
Neural Feedback Scheduling of Real-Time Control Tasks
Many embedded real-time control systems suffer from resource constraints and
dynamic workload variations. Although optimal feedback scheduling schemes are
in principle capable of maximizing the overall control performance of
multitasking control systems, most of them induce excessively large
computational overheads associated with the mathematical optimization routines
involved and hence are not directly applicable to practical systems. To
optimize the overall control performance while minimizing the overhead of
feedback scheduling, this paper proposes an efficient feedback scheduling
scheme based on feedforward neural networks. Using the optimal solutions
obtained offline by mathematical optimization methods, a back-propagation (BP)
neural network is designed to adapt online the sampling periods of concurrent
control tasks with respect to changes in computing resource availability.
Numerical simulation results show that the proposed scheme can reduce the
computational overhead significantly while delivering almost the same overall
control performance as compared to optimal feedback scheduling.Comment: To appear in International Journal of Innovative Computing,
Information and Contro
Feedback and time are essential for the optimal control of computing systems
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of feedback algorithms to schedule tasks, data and resources, but the models that are used to design these algorithms are validated using open-loop metrics. By using closed-loop metrics instead, such as the gap metric developed in the control community, it should be possible to develop improved scheduling algorithms and computing systems that have not been over-engineered. Furthermore, scheduling problems are most naturally formulated as constraint satisfaction or mathematical optimization problems, but these are seldom implemented using state of the art numerical methods, nor do they explicitly take into account the fact that the scheduling problem itself takes time to solve. This paper makes the case that recent results in real-time model predictive control, where optimization problems are solved in order to control a process that evolves in time, are likely to form the basis of scheduling algorithms of the future. We therefore outline some of the research problems and opportunities that could arise by explicitly considering feedback and time when designing optimal scheduling algorithms for computing systems
Conclusions from the European Roadmap on Control of Computing Systems
The use of control-based methods for resource management in real-time computing and communication systems has gained a substantial interest recently. Applications areas include performance control of web-servers, dynamic resource management in embedded systems, traffic control in communication networks, transaction management in database servers, error control in software systems, and autonomic computing. Within the European EU/IST FP6 Network of Exellence ARTIST2 on Embedded System Design a roadmap on Control of Real-Time Computing Systems has recently been completed. The focus of the roadmap is how flexibility, adaptivity, performance and robustness can be achieved in a real-time computing or communication system through the use of control theory. The item that is controlled is in most cases the allocation of computing and communication resources, e.g., the distribution or scheduling of CPU time among different competing tasks, jobs, requests, or transactions, or the communication resources in a network. Due to this, control of computing systems also goes under the name of feedback scheduling. The roadmap is divided into six research areas: control of server systems, control of CPU resources, control of communication networks, error control of software systems, feedback scheduling of control systems, and control middleware. For each area an overview is given and challenges for future research are stated. The aim of this position paper is to summarize the conclusions concerning these research challenges. In this paper, we will only cover the first four of the areas above. A preliminary version of the roadmap can be found on http://www.control.lth.se/user/karlerik/roadmap1.pd
Legendre-tau approximation for functional differential equations. Part 2: The linear quadratic optimal control problem
The numerical scheme based on the Legendre-tau approximation is proposed to approximate the feedback solution to the linear quadratic optimal control problem for hereditary differential systems. The convergence property is established using Trotter ideas. The method yields very good approximations at low orders and provides an approximation technique for computing closed-loop eigenvalues of the feedback system. A comparison with existing methods (based on averaging and spline approximations) is made
Multivariable control theory applied to hierarchial attitude control for planetary spacecraft
Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included
Algorithms for computing the multivariable stability margin
Stability margin for multiloop flight control systems has become a critical issue, especially in highly maneuverable aircraft designs where there are inherent strong cross-couplings between the various feedback control loops. To cope with this issue, we have developed computer algorithms based on non-differentiable optimization theory. These algorithms have been developed for computing the Multivariable Stability Margin (MSM). The MSM of a dynamical system is the size of the smallest structured perturbation in component dynamics that will destabilize the system. These algorithms have been coded and appear to be reliable. As illustrated by examples, they provide the basis for evaluating the robustness and performance of flight control systems
Semiglobal optimal feedback stabilization of autonomous systems via deep neural network approximation
A learning approach for optimal feedback gains for nonlinear continuous time
control systems is proposed and analysed. The goal is to establish a rigorous
framework for computing approximating optimal feedback gains using neural
networks. The approach rests on two main ingredients. First, an optimal control
formulation involving an ensemble of trajectories with 'control' variables
given by the feedback gain functions. Second, an approximation to the feedback
functions via realizations of neural networks. Based on universal approximation
properties we prove the existence and convergence of optimal stabilizing neural
network feedback controllers.Comment: 55 pages, 13 figure
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