Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Predictive Control using an FPGA with Application to Aircraft Control


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

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

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.


Type of Publication:


File Download:

Request a copy of this publication.
(Uses JavaScript)
% 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},
Permanent link