Hartley, EN and Jerez, JL and Suardi, A and MacIejowski, JM and Kerrigan, EC and Constantinides, GA (2014) Predictive control using an FPGA with application to aircraft control. IEEE Transactions on Control Systems Technology, 22. pp. 1006-1017. ISSN 1063-6536Full text not available from this repository.
Alternative and more efficient computational methods can extend the applicability of model predictive control (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) quadratic program (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-in-the-loop testbench controlling a nonlinear simulation of a large airliner. This paper considers many more manipulated inputs than any previous FPGA-based MPC implementation to date, yet the implementation comfortably fits into a midrange 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. © 1993-2012 IEEE.
|Divisions:||Div F > Control|
|Depositing User:||Cron Job|
|Date Deposited:||09 Dec 2016 17:35|
|Last Modified:||27 Feb 2017 05:26|