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Predictive control using an FPGA with application to aircraft control

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Title: Predictive control using an FPGA with application to aircraft control
Authors: Hartley, EN
Jerez, JL
Suardi, A
Maciejowski, JM
Kerrigan, EC
Constantinides, GA
Item Type: Journal Article
Abstract: Alternative and more efficient computational methods can extend the applicability of MPC to systems with tight real-time requirements. This paper presents a “system-on-a-chip” MPC system, implemented on a field programmable gate array (FPGA), consisting of a sparse structure-exploiting primal dual interior point (PDIP) QP solver for MPC reference tracking and a fast gradient QP solver for steady-state target calculation. A parallel reduced precision iterative solver is used to accelerate the solution of the set of linear equations forming the computational bottleneck of the PDIP algorithm. A numerical study of the effect of reducing the number of iterations highlights the effectiveness of the approach. The system is demonstrated with an FPGA-inthe-loop testbench controlling a nonlinear simulation of a large airliner. This study considers many more manipulated inputs than any previous FPGA-based MPC implementation to date, yet the implementation comfortably fits into a mid-range FPGA, and the controller compares well in terms of solution quality and latency to state-of-the-art QP solvers running on a standard PC.
Issue Date: 1-May-2014
Date of Acceptance: 16-Jun-2013
URI: http://hdl.handle.net/10044/1/31062
DOI: 10.1109/TCST.2013.2271791
ISSN: 1558-0865
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Start Page: 1006
End Page: 1017
Journal / Book Title: IEEE Transactions on Control Systems Technology
Volume: 22
Issue: 3
Copyright Statement: © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/C512596/1
EP/G031576/1
EP/I012036/1
Keywords: Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Aerospace control
field-programmable gate arrays (FPGAs)
optimization methods
predictive control
INTERIOR-POINT METHODS
IMPLEMENTATION
0102 Applied Mathematics
0906 Electrical and Electronic Engineering
Industrial Engineering & Automation
Publication Status: Published
Appears in Collections:Electrical and Electronic Engineering
Faculty of Engineering