eprintid: 2175
rev_number: 8
eprint_status: archive
userid: 6
dir: disk0/00/00/21/75
datestamp: 2014-03-05 14:06:27
lastmod: 2015-04-07 14:04:44
status_changed: 2014-03-05 14:06:27
type: book_section
metadata_visibility: show
creators_name: Patrinos, Panagiotis
creators_name: Guiggiani, Alberto
creators_name: Bemporad, Alberto
creators_id: panagiotis.patrinos@imtlucca.it
creators_id: alberto.guiggiani@imtlucca.it
creators_id: alberto.bemporad@imtlucca.it
title: Fixed-point dual gradient projection for embedded model predictive control
ispublished: pub
subjects: TJ
divisions: CSA
full_text_status: none
keywords: Approximation methods; Computer architecture; Convergence; Hardware; Optimization; Predictive control; Vectors

note: 2013 European Control Conference (ECC)
July 17-19, 2013, Zürich, Switzerland.
abstract: 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.
date: 2013-07
publisher: IEEE
pagerange: 3602-3607
event_title: Control Conference (ECC), 2013 European
refereed: TRUE
isbn: 978-3-033-03962-9
book_title: Proceedings of European Control Conference 2013
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6669412&isnumber=6669080
citation:   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)