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RESEARCH PAPERS

Asynchronous Interactive Control Systems

[+] Author and Article Information
M. I. Vušković

Institute for Technoeconomic Systems, Department of Industrial & Systems Engineering, University of Southern California, Los Angeles, Calif. 90007

E. Heer

Jet Propulsion Laboratory, Pasadena, Calif. 91103

J. Dyn. Sys., Meas., Control 104(1), 33-40 (Mar 01, 1982) (8 pages) doi:10.1115/1.3149628 History: Received January 13, 1981; Online July 21, 2009

Abstract

A class of interactive control systems is derived by generalizing interactive manipulator control systems. The general structural properties of such systems are discussed and an appropriate general software implementation is proposed. This is based on the fact that tasks of interactive control systems can be represented as a network of a finite set of actions which have specific operational characteristics and specific resource requirements, and which are of limited duration. This has enabled the decomposition of the overall control algorithm into a set of subalgorithms, called subcontrollers, which can operate simultaneously and asynchronously. Coordinate transformations of sensor feedback data and actuator set-points have enabled the further simplification of the subcontrollers and have reduced their conflicting resource requirements. The modules of the decomposed control system are implemented as parallel processes with disjoint memory space communicating only by I/O. The synchronization mechanisms for dynamic resource allocation among subcontrollers and other synchronizaton mechanisms are also discussed in this paper. Such a software organization is suitable for the general form of multiprocessing using computer networks with distributed storage.

Copyright © 1982 by ASME
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