Constrained LQR for low-precision data representation
File(s)Costr_Ctrl_Delta_Sub3.pdf (524.73 KB)
Accepted version
Author(s)
Longo, S
Kerrigan, EC
Constantinides, GA
Type
Journal Article
Abstract
Performing computations with a low-bit number representation results in a faster implementation that uses less silicon, and hence allows an algorithm to be implemented in smaller and cheaper processors without loss of performance. We propose a novel formulation to efficiently exploit the low (or non-standard) precision number representation of some computer architectures when computing the solution to constrained LQR problems, such as those that arise in predictive control. The main idea is to include suitably-defined decision variables in the quadratic program, in addition to the states and the inputs, to allow for smaller roundoff errors in the solver. This enables one to trade off the number of bits used for data representation against speed and/or hardware resources, so that smaller numerical errors can be achieved for the same number of bits (same silicon area). Because of data dependencies, the algorithm complexity, in terms of computation time and hardware resources, does not necessarily increase despite the larger number of decision variables. Examples show that a 10-fold reduction in hardware resources is possible compared to using double precision floating point, without loss of closed-loop performance.
Date Issued
2014-01
Date Acceptance
2013-09-11
Citation
Automatica, 2014, 50 (1), pp.162-168
ISSN
1873-2836
Publisher
Elsevier
Start Page
162
End Page
168
Journal / Book Title
Automatica
Volume
50
Issue
1
Copyright Statement
© 2013 Elsevier. Licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/
Sponsor
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (E
Identifier
http://dx.doi.org/10.1016/j.automatica.2013.09.035
Grant Number
EP/F041004/1
EP/G031576/1
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
AUTOMATION & CONTROL SYSTEMS
ENGINEERING, ELECTRICAL & ELECTRONIC
Embedded systems
Control of constrained systems
Predictive control
Optimization
Number representation
MODEL-PREDICTIVE CONTROL
INTERIOR-POINT METHODS
Industrial Engineering & Automation
Mathematical Sciences
Information And Computing Sciences
Publication Status
Published
Date Publish Online
2013-11-20