An Embedded FPGA Architecture for Real-Time Model Predictive Control
نویسندگان
چکیده
منابع مشابه
Embedded Model Predictive Control (MPC) using a FPGA
Model Predictive Control (MPC) is increasingly being proposed for application to miniaturized devices, fast and/or embedded systems. A major obstacle to this is its computation time requirement. Continuing our previous studies of implementing constrained MPC on Field Programmable Gate Arrays (FPGA), this paper begins to exploit the possibilities of parallel computation, with the aim of speeding...
متن کاملReal-time Model Predictive Control for Quadrotors
This paper presents a solution to on-board trajectory tracking control of quadrotors. The proposed approach combines the standard hierarchical control paradigm that separates the control into low-level motor control, mid-level attitude dynamics control, and a high-level trajectory tracking with a model predictive control strategy. We use dynamic reduction of the attitude dynamics and dynamic ex...
متن کاملEmbedded Systems for Real-time Predictive Diagnostic
The article discusses using embedded systems for diagnostic and maintenance planning. There is described design and using of two embedded systems with different digital signal processors, their advantages and disadvantages. There are described applications of embedded systems for diagnostic and maintenance planning for machines, drives and ventilators. There is practice demonstration of the sig...
متن کاملuRT51: AN EMBEDDED REAL-TIME PROCESSOR IMPLEMENTED ON FPGA DEVICES
−− In this paper we describe and evaluate the main features of the uRT51 processor. The uRT51 processor was designed for embedded realtime control applications. It is a processor architecture that incorporates the specific functions of a real-time system in hardware. It was described using synthesizable VHDL and it was implemented on FPGA devices. We describe how the uRT51 processor supports ti...
متن کاملFeasible Real-time Nonlinear Model Predictive Control
This paper discusses an algorithm for efficiently calculating the control moves for constrained nonlinear model predictive control. The approach focuses on real-time optimization strategies that maintain feasibility with respect to the model and constraints at each iteration, yielding a stable technique suitable for suboptimal model predictive control of nonlinear process. We present a simulati...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.1886