Parallel Implementation of Iterative Learning Controllers on Multi-core Platforms

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Abstract

This paper presents design and implementation techniques for iterative learning controllers (ILCs) targeting predictable multi-core embedded platforms. Implementation on embedded platforms results in a number of timing artifacts. Sensor-to-actuator delay (referred to as delay) is an important timing artifact which influences the control performance by changing the dynamic behavior of the system. We propose a delay-based design for ILCs that identifies and operates in the performance-optimal delay region. We then propose two implementation methods - sequential and parallel - for ILCs targeting the predictable multi-core platforms. The proposed methods enable the designer to carefully adjust the scheduling to achieve the optimal delay region in the resulting control system. We validate our results by the hardware-in-the-loop (HIL) simulation, considering a motion system as a case-study. Index Terms - Embedded control, Iterative learning control, Sensor-to-actuator-delay, Predictable multi-core platform.

Original languageEnglish
Title of host publicationProceedings of the 2020 Design, Automation and Test in Europe Conference and Exhibition, DATE 2020
EditorsGiorgio Di Natale, Cristiana Bolchini, Elena-Ioana Vatajelu
PublisherInstitute of Electrical and Electronics Engineers
Pages1704-1709
Number of pages6
ISBN (Electronic)9783981926347
DOIs
Publication statusPublished - Mar 2020
Event2020 Design, Automation and Test in Europe Conference and Exhibition, DATE 2020 - Grenoble, France
Duration: 9 Mar 202013 Mar 2020

Conference

Conference2020 Design, Automation and Test in Europe Conference and Exhibition, DATE 2020
CountryFrance
CityGrenoble
Period9/03/2013/03/20

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