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Embedded online optimization for model predictive control at megahertz rates

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Title: Embedded online optimization for model predictive control at megahertz rates
Authors: Jerez, J
Goulart, P
Richter, S
Constantinides, GA
Kerrigan, EC
Morari, M
Item Type: Journal Article
Abstract: Faster, cheaper, and more power efficient optimization solvers than those currently possible using general-purpose techniques are required for extending the use of model predictive control (MPC) to resource-constrained embedded platforms. We propose several custom computational architectures for different first-order optimization methods that can handle linear-quadratic MPC problems with input, input-rate, and soft state constraints. We provide analysis ensuring the reliable operation of the resulting controller under reduced precision fixed-point arithmetic. Implementation of the proposed architectures in FPGAs shows that satisfactory control performance at a sample rate beyond 1 MHz is achievable even on low-end devices, opening up new possibilities for the application of MPC on embedded systems.
Issue Date: 1-Dec-2014
Date of Acceptance: 15-Apr-2014
URI: http://hdl.handle.net/10044/1/61819
DOI: 10.1109/TAC.2014.2351991
ISSN: 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
Start Page: 3238
End Page: 3251
Journal / Book Title: IEEE Transactions on Automatic Control
Volume: 59
Issue: 12
Copyright Statement: © 2014 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 (E
Commission of the European Communities
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: EP/G031576/1
248940
EP/I012036/1
Keywords: Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Embedded systems
optimization algorithms
predictive control of linear systems
COMPUTATIONAL-COMPLEXITY CERTIFICATION
STABILITY
MPC
cs.SY
cs.SY
math.OC
0102 Applied Mathematics
0906 Electrical and Electronic Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Online Publication Date: 2014-08-28
Appears in Collections:Electrical and Electronic Engineering
Faculty of Engineering