Adaptive predictive control for pipelined multiprocessor image-based control systems considering workload variations

Mohamed, Sajid; Saraf, Nilay; Bernardini, Daniele; Goswami, Dip; Basten, Twan; Bemporad, Alberto

doi:10.1109/cdc42340.2020.9303827

Cited by 3 publications

(1 citation statement)

References 21 publications

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“…Switching in a multiprocessor pipelined IBC system implementation due to workload variations has not been explicitly explored in literature apart from our previous work [46]. When we do not consider workload variations, a pipelined implementation effectively results in a constant τ and h. Considering workload variations implies that we would have varying sensing delays, e.g.…”

Section: ) Switching In Pipelined Implementationmentioning

confidence: 99%

Optimising Multiprocessor Image-Based Control Through Pipelining and Parallelism

Mohamed

Goswami

et al. 2021

IEEE Access

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Image-based control (IBC) systems have a long sensing delay due to compute-intensive image processing. Modern multiprocessor IBC implementations consider either parallelisation of the sensing task or pipelining of the control loop to cope with this long delay. However, the impact of both parallelisation and pipelining together on the quality-of-control (QoC) of IBC systems is not explored in the literature. We present a model-based design method for multiprocessor IBC implementation, considering both parallelisation and pipelining together. In particular, we address the following problem: For a given platform allocation, what is the optimal degree of pipelining and degree of parallelisation required to maximise the QoC? The proposed method takes into account image-workload variations, inter-frame dependencies and platform constraints. The application is efficiently modelled and analysed using a scenario-aware dataflow graph, and an implementation-aware switched controller is designed that optimises QoC and guarantees stability. We validate the proposed method using simulations and hardware-in-the-loop experiments, considering a lane-keeping assist system.INDEX TERMS image-based control, switched linear control, scenario-based design, platform-aware design, multiprocessor implementation, hardware-in-the-loop validation

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Section: ) Switching In Pipelined Implementationmentioning

confidence: 99%

Optimising Multiprocessor Image-Based Control Through Pipelining and Parallelism

Mohamed

Goswami

et al. 2021

IEEE Access

Self Cite

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The IMOCO4.E reference framework for intelligent motion control systems

Mohamed,

van der Veen,

Kuppens

et al. 2023

2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)

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Online Predictive Visual Servo Control for Constrained Target Tracking of Fixed-Wing Unmanned Aerial Vehicles

Yang,

Wang,

Zhou

et al. 2024

Drones

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This paper proposes an online predictive control method for fixed-wing unmanned aerial vehicles (UAVs) with a pan-tilt camera in target tracking. It aims to achieve long-term tracking while concurrently maintaining the target near the image center. Particularly, this work takes the UAV and pan-tilt camera as an overall system and deals with the target tracking problem via joint optimization, so that the tracking ability of the UAV can be improved. The image captured by the pan-tilt camera is the unique input associated with the target, and model predictive control (MPC) is used to solve the optimization problem with constraints that cannot be performed by the classic image-based visual servoing (IBVS). In addition to the dynamic constraint of the UAV, the perception constraint of the camera is also taken into consideration, which is described by the maximum distance between the target and the camera. The accurate detection of the target depends on the amount of its feature information contained in the image, which is highly related to the relative distance between the target and the camera. Moreover, considering the real-time requirements of practical applications, an MPC strategy based on soft constraints and a warm start is presented. Furthermore, a switching-based approach is proposed to return the target back to the perception range quickly once it exceeds the range, and the exponential asymptotic stability of the switched controller is proven as well. Both numerical and hardware-in-the-loop (HITL) simulations are conducted to verify the effectiveness and superiority of the proposed method compared with the existing method.

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Adaptive predictive control for pipelined multiprocessor image-based control systems considering workload variations

Cited by 3 publications

References 21 publications

Optimising Multiprocessor Image-Based Control Through Pipelining and Parallelism

Optimising Multiprocessor Image-Based Control Through Pipelining and Parallelism

The IMOCO4.E reference framework for intelligent motion control systems

Online Predictive Visual Servo Control for Constrained Target Tracking of Fixed-Wing Unmanned Aerial Vehicles

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