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Predictive Control using an FPGA with Application to Aircraft Control

Author(s):

E.N. Hartley, J.L. Jerez, A. Suardi, Jan M. Maciejowski, E.C. Kerrigan, G. Constantinides
Conference/Journal:

IEEE Transactions on Control Systems Technology, vol. 22, no. 3, pp. 1006-1017
Abstract:

Alternative and more efficient computational methods can extend the applicability of model predictive control (MPC) to systems with tight real-time requirements. This paper presents a system-on-a-chip MPC system, implemented on a field-programmable gate array (FPGA), consisting of a sparse structure-exploiting primal dual interior point (PDIP) quadratic program (QP) solver for MPC reference tracking and a fast gradient QP solver for steady-state target calculation. A parallel reduced precision iterative solver is used to accelerate the solution of the set of linear equations forming the computational bottleneck of the PDIP algorithm. A numerical study of the effect of reducing the number of iterations highlights the effectiveness of the approach. The system is demonstrated with an FPGA-in-the-loop testbench controlling a nonlinear simulation of a large airliner. This paper considers many more manipulated inputs than any previous FPGA-based MPC implementation to date, yet the implementation comfortably fits into a midrange FPGA, and the controller compares well in terms of solution quality and latency to state-of-the-art QP solvers running on a standard PC.

Year:

2014
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { HarEtal:2014:IFA_4688,
    author={E.N. Hartley and J.L. Jerez and A. Suardi and Jan M. Maciejowski and E.C. Kerrigan and G. Constantinides},
    title={{Predictive Control using an FPGA with Application to
	  Aircraft Control}},
    journal={IEEE Transactions on Control Systems Technology},
    year={2014},
    volume={22},
    number={3},
    pages={1006--1017},
    month=may,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4688}
}
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