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Analysis of preemptive periodic real-time systems using the (max, plus) algebra with applications in robotics

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3 Author(s)
Baccelli, F. ; ENS, Paris, France ; Gaujal, B. ; Simon, D.

We present the model of a system of periodic real-time tasks with fixed priorities, preemption and synchronization, performed by a robot controller, using marked graphs. Then, with the help of the (max, plus) algebra, we derive simple tests to check real-time constraints on those tasks such as response times and the respect of deadlines. This method takes into account the precedence and synchronization constraints and is not limited to a particular scheduling policy

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:10 ,  Issue: 3 )

Date of Publication:

May 2002

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