Igor Novais;Matheus Marinatto;Fernando Lizarralde;Alessandro Jacoud Peixoto
{"title":"硬优先级控制分配:优先级反转现象的处理","authors":"Igor Novais;Matheus Marinatto;Fernando Lizarralde;Alessandro Jacoud Peixoto","doi":"10.1109/LCSYS.2025.3580493","DOIUrl":null,"url":null,"abstract":"This letter proposes the novel hard prioritization control allocation algorithm for systems with task priorities based on a recursive feasible region intersection algorithm that guarantees strict task priority. Hard prioritization addresses the key limitation of the priority inversion phenomenon that arises in a well-known class of task prioritization methods, referred to as soft prioritization algorithms. The worst-case computational cost is shown to be linear with respect to the number of tasks for a generic case. Furthermore, soft and hard prioritization approaches are evaluated through a case study of velocity closed-loop control of an underwater vehicle, demonstrating that correcting the priority inversion phenomenon could improve the transient performance of the primary task.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"1429-1434"},"PeriodicalIF":2.0000,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Hard Prioritization Control Allocation: Dealing With the Priority Inversion Phenomenon\",\"authors\":\"Igor Novais;Matheus Marinatto;Fernando Lizarralde;Alessandro Jacoud Peixoto\",\"doi\":\"10.1109/LCSYS.2025.3580493\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This letter proposes the novel hard prioritization control allocation algorithm for systems with task priorities based on a recursive feasible region intersection algorithm that guarantees strict task priority. Hard prioritization addresses the key limitation of the priority inversion phenomenon that arises in a well-known class of task prioritization methods, referred to as soft prioritization algorithms. The worst-case computational cost is shown to be linear with respect to the number of tasks for a generic case. Furthermore, soft and hard prioritization approaches are evaluated through a case study of velocity closed-loop control of an underwater vehicle, demonstrating that correcting the priority inversion phenomenon could improve the transient performance of the primary task.\",\"PeriodicalId\":37235,\"journal\":{\"name\":\"IEEE Control Systems Letters\",\"volume\":\"9 \",\"pages\":\"1429-1434\"},\"PeriodicalIF\":2.0000,\"publicationDate\":\"2025-06-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Control Systems Letters\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/11038928/\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Control Systems Letters","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/11038928/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Hard Prioritization Control Allocation: Dealing With the Priority Inversion Phenomenon
This letter proposes the novel hard prioritization control allocation algorithm for systems with task priorities based on a recursive feasible region intersection algorithm that guarantees strict task priority. Hard prioritization addresses the key limitation of the priority inversion phenomenon that arises in a well-known class of task prioritization methods, referred to as soft prioritization algorithms. The worst-case computational cost is shown to be linear with respect to the number of tasks for a generic case. Furthermore, soft and hard prioritization approaches are evaluated through a case study of velocity closed-loop control of an underwater vehicle, demonstrating that correcting the priority inversion phenomenon could improve the transient performance of the primary task.