AI 中文总结
本文对比研究考虑截止期限错失的实时控制器设计方法，分析其假设与权衡，开发对比工具并通过仿真验证方法实际表现。
AI 中文摘要
本文针对受截止期限错失影响的动态控制系统，开展实时控制器设计方法的对比研究。已有大量处理截止期限错失的技术被提出，包括在控制设计中直接纳入可能截止期限错失的模型或信息。这些方法在假设条件、支持的执行语义、所需运行时信息及提供的保证方面存在显著差异，导致直接对比颇具挑战。本文通过对具有代表性的截止期限感知控制方法进行定性评估，填补了这一空白。我们分析了此类控制器的设计空间，确定了实时约束、控制设计准则及实现方面的关键假设，揭示了这些不同假设如何导致适用性、控制性能及保证之间的不同权衡。本文贡献了一款对比工具，使研究人员能够针对现有技术系统地对新技术进行基准测试。该研究通过两个案例研究的仿真得到支撑：Furuta摆和电动机，以说明不同方法在截止期限错失条件下的实际表现。
英文摘要
This paper presents a comparative study of real-time controller design methods for dynamical control systems subject to deadline overruns. Numerous techniques have been proposed to handle missed deadlines, i.e., including models or information of possible deadline misses directly in the control design. These approaches substantially differ in their assumptions, supported execution semantics, required runtime information, and provided guarantees, making direct comparison challenging. We address this gap with a qualitative assessment of representative deadline-miss-aware control methods. We analyze the design space of such controllers and identify the critical assumptions on the real-time constraints, the control design criteria and implementation aspects. We expose how these different assumptions lead to the different trade-offs in applicability, and control performance and guarantees. We contribute a comparison tool enabling researchers to systematically benchmark new techniques against the state of the art. The study is supported by simulations on two case studies: a Furuta pendulum and an electric motor to illustrate the practical behavior of the different approaches under missed-deadline conditions.
CommentsThe first two authors contributed equally to this work
