relation: http://eprints.imtlucca.it/3583/
title: Real-time model predictive control based on dual gradient projection: Theory and fixed-point FPGA implementation
creator: Rubagotti, Matteo
creator: Patrinos, Panagiotis
creator: Guiggiani, Alberto
creator: Bemporad, Alberto
subject: QA75 Electronic computers. Computer science
description: This paper proposes a method to design robust model predictive control (MPC) laws for discrete-time linear systems with hard mixed constraints on states and inputs, in case of only an inexact solution of the associated quadratic program is available, because of real-time requirements. By using a recently proposed dual gradient-projection algorithm, it is proved that the discrepancy of the optimal control law as compared with the obtained one is bounded even if the solver is implemented in fixed-point arithmetic. By defining an alternative MPC problem with tightened constraints, a feasible solution is obtained for the original MPC problem, which guarantees recursive feasibility and asymptotic stability of the closed-loop system with respect to a set including the origin, also considering the presence of external disturbances. The proposed MPC law is implemented on a field-programmable gate array in order to show the practical applicability of the method.
publisher: Wiley
date: 2016
type: Article
type: PeerReviewed
identifier:   Rubagotti, Matteo and Patrinos, Panagiotis and Guiggiani, Alberto and Bemporad, Alberto  Real-time model predictive control based on dual gradient projection: Theory and fixed-point FPGA implementation.  International Journal of Robust and Nonlinear Control, 26 (15).  pp. 3292-3310.  ISSN 10498923      (2016)  
relation: http://doi.org/10.1002/rnc.3507
relation: doi:10.1002/rnc.3507