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In this article, an ‐variable model‐free prescribed‐time controller (‐MFPTC) is proposed for a nonlinear system with uncertainties and disturbances. First, an ultra‐local model is employed to formulate the plant dynamic by using input and output data. Second, to observe the state variables and compensate for the lumped uncertainties, a linear extended state observer (LESO) is designed. Then,...
Platform-Based Design (PBD) is an appropriate method to make a trade-off among different requirements and constraints in embedded systems, such as power, performance and cost. This paper presents a hardware and software all programmable platform with a processor-programmable logic hardware architecture and a Real-Time Operating System (RTOS) centric software architecture. The corresponding RTOS-centric...
In this paper, a new hybrid architecture for heterogeneous multi-robot systems is presented. Personal computers as central server and embedded systems as nodes are integrated in this architecture based on robot operating system. The complex computation and visualization are processed on server, while real-time tasks are completed in robot nodes with embedded systems. Compared with the existing schemes,...
TOPPERS Project is to develop a series of open source real time operating systems(RTOS) and other software stacks for embedded systems, also is one of the latest developments of ITRON specification, which is de-facto standard real time kernel specification in Japan. TOPPERS/ASP kernel is the core and foundation of TOPPERS Project, also is an exploration and protype of next generation RTOS. This paper...
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