Nonlinear predictive control on a heterogeneous computing platform
File(s)
Accepted version
Author(s)
Khusainov, B
Kerrigan, EC
Suardi, A
Constantinides, GA
Type
Conference Paper
Abstract
Nonlinear Model Predictive Control (NMPC) is an advanced control technique that often relies on computationally demanding optimization and integration algorithms. This paper proposes and investigates a heterogeneous hardware implementation of an NMPC controller based on an interior point algorithm. The proposed implementation provides flexibility of splitting the workload between a general-purpose CPU with a fixed architecture and a field-programmable gate array (FPGA) to trade off contradicting design objectives, namely performance and computational resource usage. A new way of exploiting the structure of the Karush-Kuhn-Tucker (KKT) matrix yields significant memory savings, which is crucial for reconfigurable hardware. For the considered case study, a 10x memory savings compared to existing approaches and a 10x speedup over a software implementation are reported. The proposed implementation can be tested from Matlab using a new release of the Protoip software tool, which is another contribution of the paper. Protoip abstracts many low-level details of heterogeneous hardware programming and allows quick prototyping and processor-in-the-loop verification of heterogeneous hardware implementations.
Date Issued
2017-07
Date Acceptance
2017-02-27
Citation
20th IFAC World Congress (IFAC-PapersOnLine), 2017, 50 (1), pp.11877-11882
Publisher
IFAC / Elsevier
Start Page
11877
End Page
11882
Journal / Book Title
20th IFAC World Congress (IFAC-PapersOnLine)
Volume
50
Issue
1
Copyright Statement
© 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. This manuscript is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licence http://creativecommons.org/licenses/by-nc-nd/4.0/
Sponsor
Commission of the European Communities
Grant Number
PITN-GA-2013-607957
Source
IFAC World Congress 2017
Subjects
Nonlinear predictive control
Hardware-software co-design
Scheduling
HARDWARE IMPLEMENTATION
FPGA
cs.SY
cs.SY
math.OC
Publication Status
Published
Start Date
2017-07-09
Finish Date
2017-07-14
Coverage Spatial
Toulouse, France
Date Publish Online
2017-10-18