Implementation aspects of model predictive control for embedded systems

P. Zometa, M. Kogel, T. Faulwasser, R. Findeisen
2012 2012 American Control Conference (ACC)  
In this paper we discuss implementation related aspects of model predictive control schemes on embedded platforms. Exemplarily, we focus on fast gradient methods and present results from an implementation on an embedded low-cost ARM processor. We show that input quantization happening in actuators should be taken into account in order to determine the suboptimality level of the online optimization. Furthermore, we present results which allow the off-line determination of the online memory
more » ... of the fast-gradient MPC algorithm on the embedded system. As a case study we consider a Segway-like robot, modeled by an LTI-system with 8 states and 2 inputs subject to box input constraints. The test system runs with a sampling period of 4 ms and uses MPC horizons up to 20 steps in a hard real-time system with limited CPU time and memory.
doi:10.1109/acc.2012.6315076 fatcat:ha4ugg5qhbcvviaidirhw7cx5m