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Embedded online optimization for model predictive control at megahertz rates
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![]() | Accepted version | 770.44 kB | Adobe PDF | View/Open |
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 |