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Fixed-point implementation of a proximal Newton method for embedded model predictive control (I)

Guiggiani, Alberto and Patrinos, Panagiotis and Bemporad, Alberto Fixed-point implementation of a proximal Newton method for embedded model predictive control (I). In: Proceedings of the 19th IFAC World Congress. IFAC, pp. 2921-2926. ISBN 978-3-902823-62-5 (2014)

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Extending the success of model predictive control (MPC) technologies in embedded applications heavily depends on the capability of improving quadratic programming (QP) solvers. Improvements can be done in two directions: better algorithms that reduce the number of arithmetic operations required to compute a solution, and more efficient architectures in terms of speed, power consumption, memory occupancy and cost. This paper proposes a fixed point implementation of a proximal Newton method to solve optimization problems arising in input-constrained MPC. The main advantages of the algorithm are its fast asymptotic convergence rate and its relatively low computational cost per iteration since it the solution of a small linear system is required. A detailed analysis on the effects of quantization errors is presented, showing the robustness of the algorithm with respect to finite-precision computations. A hardware implementation with specific optimizations to minimize computation times and memory footprint is also described, demonstrating the viability of low-cost, low-power controllers for high-bandwidth MPC applications. The algorithm is shown to be very effective for embedded MPC applications through a number of simulation experiments.

Item Type: Book Section
Identification Number: 10.3182/20140824-6-ZA-1003.00992
Additional Information: 19th IFAC World Congress, August 24-29, 2014, Cape Town, South Africa
Uncontrolled Keywords: Identification and control methods; Cyber-Physical Systems
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
Research Area: Computer Science and Applications
Depositing User: Ms T. Iannizzi
Date Deposited: 22 Oct 2014 07:55
Last Modified: 07 Apr 2015 14:04
URI: http://eprints.imtlucca.it/id/eprint/2328

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