110
IRUS TotalDownloads
Altmetric
Predictive control using an FPGA with application to aircraft control
File | Description | Size | Format | |
---|---|---|---|---|
![]() | Accepted version | 1.31 MB | Adobe PDF | View/Open |
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 |