TY  - JOUR
SN  - 10498923
VL  - 26
PB  - Wiley
EP  - 3310
Y1  - 2016///
SP  - 3292
A1  - Rubagotti, Matteo
A1  - Patrinos, Panagiotis
A1  - Guiggiani, Alberto
A1  - Bemporad, Alberto
AV  - none
ID  - eprints3583
TI  - Real-time model predictive control based on dual gradient projection: Theory and fixed-point FPGA implementation
UR  - http://doi.org/10.1002/rnc.3507
IS  - 15
N2  - 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.
JF  - International Journal of Robust and Nonlinear Control
ER  -