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Predictive Control of a Boeing 747 Aircraft using an FPGA


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

Nonlinear Model Predictive Control, Noordwijkerhout, Netherlands, pp. 80-85

New embedded predictive control applications call for more ecient ways of solving quadratic programs (QPs) in order to meet demanding real-time, power and cost requirements. A single precision QP-on-a-chip controller is proposed, implemented in a eld-programmable gate array (FPGA) with an iterative linear solver at its core. A novel oine scaling procedure is introduced to aid the convergence of the reduced precision solver. The feasibility of the proposed approach is demonstrated with a real-time hardware-in-the-loop (HIL) experimental setup where an ML605 FPGA board controls a nonlinear model of a Boeing 747 aircraft running on a desktop PC through an Ethernet link. Simulations show that the quality of the closed-loop control and accuracy of individual solutions is competitive with a conventional double precision controller solving linear systems using a Riccati recursion.


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% Autogenerated BibTeX entry
@InProceedings { HarEtal:2012:IFA_4692,
    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 of a Boeing 747 Aircraft using an FPGA}},
    booktitle={Nonlinear Model Predictive Control},
    address={Noordwijkerhout, Netherlands},
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