This master’s thesis concerns development of embedded control systems.Development process for embedded control systems involves several steps, such as control design, rapid prototyping, fixedpoint implementation and hardware-in-the-loop-simulations. Another step, which Volvo is not currently (September 2009) using within climate control is on-line tuning. One reason for not using this technique today is that the available tools for this task (ATI Vision, INCA from ETAS or CalDesk from dSPACE) do not handle parameter dependencies in a atisfactory way. With these constraints of today, it is not possible to use online tuning and controller development process is more laborious and time consuming.The main task of this thesis is to solve the problem with parameter dependencies and to make online tuning possible.

Today, many embedded or cyber-physical systems, e.g., in the automotive domain, comprise several control applications, sharing the same platform. It is well known that such resource sharing leads to complex temporal behaviors that degrades the quality of control, and more importantly, may even jeopardize stability in the worst case, if not properly taken into account. In this thesis, we consider embedded control or cyber-physical systems, where several control applications share the same processing unit. The focus is on the control-scheduling co-design problem, where the controller and scheduling parameters are jointly optimized. The fundamental difference between control applications and traditional embedded applications motivates the need for novel methodologies for the design and optimization of embedded control systems. This thesis is one more step towards correct design and optimization of embedded control systems. Offline and online methodologies for embedded control systems are covered in this thesis. The importance of considering both the expected control performance and stability is discussed and a control-scheduling co-design methodology is proposed to optimize control performance while guaranteeing stability. Orthogonal to this, bandwidth-efficient stabilizing control servers are proposed, which support compositionality, isolation, and resource-efficiency in design and co-design. Finally, we extend the scope of the proposed approach to non-periodic control schemes and address the challenges in sharing the platform with self-triggered controllers. In addition to offline methodologies, a novel online scheduling policy to stabilize control applications is proposed.

Orientador: Joao Mauricio Rosario / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-10T02:27:46Z (GMT). No. of bitstreams: 1 Melo_LeonimerFlaviode_D.pdf: 6867936 bytes, checksum: 344026f77cc24610774519b704ddccfa (MD5) Previous issue date: 2007 / Resumo: Este trabalho apresenta a proposta de implementação de um ambiente virtual de simulação para projeto e concepção de sistema de supervisão e controle para robôs móveis, que sejam capazes de operar e de se adaptar a diferentes ambientes e condições. Este sistema virtual tem como finalidade facilitar o desenvolvimento de protótipos de sistemas embarcados, enfatizando a implementação de ferramentas que permitam a simulação das condições cinemáticas, dinâmicas e de controle, com monitoração em tempo real de todos pontos lmportantes do sistema. Para isso, é proposta uma arquitetura aberta de controle, integrando as duas principais técnicas de implementação de controle robótico a nível de hardware: sistemas microprocessadores e dispositivos de hardware reconfiguráveis. O sistema simulador implementado é composto de um módulo gerador de trajetória, de um módulo simulador cinemático e dinâmico e de um módulo de análise de resultados e erros. O módulo gerador de trajetória tem a finalidade de, uma vez conhecendo-se o ambiente em que o robô irá atuar, com seus obstáculos e particularidades, gerar uma trajetória cartesiána ótima, respeitando os limites e características do robô móvel. Todos os resultados cinemáticos e dinâmicos colhidos durante a simulação podem ser avaliados e visualizados em formatos de gráficos e tabelas, no módulo de análise de resultados, permitindo que seja feito um aperfeiçoamento no sistema, no sentido de minimizar os erros com a otimização dos ajustes necessários. Para a implementação do controlador no sistema embarcado utiliza-se a prototipagem rápida, que é a tecnologia que permite, em conjunto com o ambiente virtual de simulação, o desenvolvimento de um projeto de um controlador para robôs móveis. A validação e testes foram realizados com modelos de robôs móveis não holonômicos de transmissão diferencial / Abstract: This work presents the proposal of virtual environment implementation for project simulation and conception of supervision aild control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that alIow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of alI important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes alI simulation of the mobile robot folIowing the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controlIer implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controlIer project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica