The Fuzzy Feedback Scheduling of Real-Time Middleware in Cyber-Physical Systems for Robot Control

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/3251632/figures/3251632.fig.006a.svgz" name="3251632.fig.006a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Task execution</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/3251632/figures/3251632.fig.006b.svgz" name="3251632.fig.006b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>The output curve of the actuators and controller</td></tr></table>

<div>Simulation results without using fuzzy feedback scheduling.</div>

Journal of Sensors

fig6

Figure 6

Figure 6: The Fuzzy Feedback Scheduling of Real-Time Middleware in Cyber-Physical Systems for Robot Control 