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Real‐time scheduling of multiple uncertain receding horizon control systems
Author(s) -
Gholami Behnood,
Gordon Brandon W.,
Rabbath C. A.
Publication year - 2008
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.868
Subject(s) - scheduling (production processes) , mathematical optimization , computer science , monotonic function , time horizon , control theory (sociology) , nonlinear system , control (management) , mathematics , artificial intelligence , mathematical analysis , physics , quantum mechanics
In this paper, a new scheduling approach is proposed that considers the effect of modeling uncertainty for multiple continuous time receding horizon control (RHC) systems. This is accomplished by combining a scheduling approach with results from the continuous time nonlinear systems theory. It is shown that using a rate monotonic priority assignment method combined with analytical bounds on the prediction error, the problem of scheduling multiple uncertain plants can be cast into an appropriate constrained optimization problem. The constraints guarantee that the processes will be schedulable. The optimization provides optimized performance and balanced resource allocation in the presence of uncertainty. The proposed method was applied to a real‐time simulation of RHC trajectory tracking for two hovercraft vehicles demonstrating the validity of the approach. Copyright © 2008 John Wiley & Sons, Ltd.