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Adaptive Embedded Control for a Ball and Plate System

Authors:
Jun Xiao
Giorgio Buttazzo

Keywords: Adaptive Embedded Control Systems; Camera Detection; Jitter Compensation; PID Control.

Abstract:
In the application of embedded control systems, timing is an important factor for ensuring a desired system performance. However, the time properties are difficult to manage under the constraints of a given hardware platform and the application tasks have large computation time variations. These require the usage of adaptive mechanisms on several aspects of the control system, from sensory inputs to actuation outputs. Taking a control system consisting of ball and plate device as an example, this paper shows how to manage time and achieve performance improvements by using adaptive strategies in sensing and control. Sensory acquisition, control, and actuation are performed on a STM32F4 microcontroller. A camera mounted on the embedded board is used to detect the ball position. To cope with the limitations of computational speed of the embedded board, an adaptive approach that changes the capture area of the image acquisition process at every execution is proposed for improving the detection accuracy. A system simulator using a TrueTime kernel that provides multitasking environment has been developed as a support tool for designing the controller. Jitter compensation techniques, which adaptively update the control parameters at each sampling instant, are adopted to deal with the performance degradation due to the sampling jitter. Conditions for finding the set of proper control parameters, a practical issue of applying jitter compensation techniques, are also presented. Finally, the system has been implemented and tested on top of the Erika Enterprise real-time kernel.

Pages: 40 to 45

Copyright: Copyright (c) IARIA, 2016

Publication date: March 20, 2016

Published in: conference

ISSN: 2308-4146

ISBN: 978-1-61208-463-3

Location: Rome, Italy

Dates: from March 20, 2016 to March 24, 2016