Nonlinear predictive control on a heterogeneous computing platform

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Title: Nonlinear predictive control on a heterogeneous computing platform
Authors: Khusainov, B
Kerrigan, EC
Suardi, A
Constantinides, G
Item Type: Journal Article
Abstract: We propose an implementation of an interior-point-based nonlinear predictive controller on a heterogeneous processor. The workload can be split between a general-purpose CPU and a field-programmable gate array to trade off the contradicting design objectives of control performance and computational resource usage. A new way of exploiting the structure of the KKT matrix yields significant memory savings. We report an 18x memory saving, compared to existing approaches, and a 6x speedup over a software implementation with an ARM Cortex-A9 processor. We also introduce a new release of Protoip, which abstracts low-level details of heterogeneous programming and allows processor-in-the-loop verification.
Issue Date: 1-Sep-2018
Date of Acceptance: 25-Jun-2018
ISSN: 0967-0661
Publisher: Elsevier
Start Page: 105
End Page: 115
Journal / Book Title: Control Engineering Practice
Volume: 78
Copyright Statement: © 2018 Elsevier Ltd. All rights reserved. This manuscript is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licence
Sponsor/Funder: Commission of the European Communities
Funder's Grant Number: PITN-GA-2013-607957
Keywords: 0102 Applied Mathematics
0906 Electrical And Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Online Publication Date: 2018-07-03
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering

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