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A dual gradient-projection algorithm for model predictive control in fixed-point arithmetic

Patrinos, Panagiotis and Guiggiani, Alberto and Bemporad, Alberto A dual gradient-projection algorithm for model predictive control in fixed-point arithmetic. Automatica, 55. 226 - 235. ISSN 0005-1098 (2015)

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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 pre-specified tolerance, therefore reducing the cost and power consumption of the hardware device.

Item Type: Article
Identification Number: 10.1016/j.automatica.2015.03.002
Uncontrolled Keywords: Embedded systems; Convex optimization; Predictive control
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Ms T. Iannizzi
Date Deposited: 07 Apr 2015 14:00
Last Modified: 07 Apr 2015 14:00
URI: http://eprints.imtlucca.it/id/eprint/2657

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