Embedded Predictive Control on an FPGA using the Fast Gradient Method

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Provided by: Imperial College London
Topic: Hardware
Format: PDF
Model Predictive Control (MPC) in resource constrained embedded platforms requires faster, cheaper and more power-efficient solvers for convex programs than is currently offered by software-based solutions. In this paper the authors present the first Field Programmable Gate Array (FPGA) implementation of a fast gradient solver for linear-quadratic MPC problems with input constraints. They use fixed-point arithmetic to exploit the characteristics of the computing platform and provide analytical guarantees ensuring no overflow errors occur during operation.
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