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Fixed-point dual gradient projection for embedded model predictive control

Patrinos, Panagiotis and Guiggiani, Alberto and Bemporad, Alberto Fixed-point dual gradient projection for embedded model predictive control. In: Proceedings of European Control Conference 2013. IEEE, pp. 3602-3607. ISBN 978-3-033-03962-9 (2013)

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Although linear Model Predictive Control has gained increasing popularity for controlling dynamical systems subject to constraints, the main barrier that prevents its widespread use in embedded applications is the need to solve a Quadratic Program (QP) in real-time. This paper proposes a dual gradient projection (DGP) algorithm specifically tailored for implementation on fixed-point hardware. A detailed convergence rate analysis is presented in the presence of round-off errors due to fixed-point arithmetic. Based on these results, concrete guidelines are provided for selecting the minimum number of fractional and integer bits that guarantee convergence to a suboptimal solution within a prespecified tolerance, therefore reducing the cost and power consumption of the hardware device.

Item Type: Book Section
Additional Information: 2013 European Control Conference (ECC) July 17-19, 2013, Zürich, Switzerland.
Uncontrolled Keywords: Approximation methods; Computer architecture; Convergence; Hardware; Optimization; Predictive control; Vectors
Subjects: T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Ms T. Iannizzi
Date Deposited: 05 Mar 2014 14:06
Last Modified: 07 Apr 2015 14:04
URI: http://eprints.imtlucca.it/id/eprint/2175

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