eprintid: 2657
rev_number: 6
eprint_status: archive
userid: 6
dir: disk0/00/00/26/57
datestamp: 2015-04-07 14:00:07
lastmod: 2015-04-07 14:00:07
status_changed: 2015-04-07 14:00:07
type: article
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: A dual gradient-projection algorithm for model predictive control in fixed-point arithmetic 
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
keywords: Embedded systems; Convex optimization; Predictive control 
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 pre-specified tolerance, therefore reducing the cost and power consumption of the hardware device. 
date: 2015-05
date_type: published
publication: Automatica
volume: 55
publisher: Elsevier 
pagerange: 226 - 235
id_number: 10.1016/j.automatica.2015.03.002
refereed: TRUE
issn: 0005-1098
official_url: http://www.sciencedirect.com/science/article/pii/S0005109815001065
citation:   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)