An FPGA implementation of a sparse quadratic programming solver for constrained predictive control

ACM/SIGDA International Symposium on Field Programmable Gate Arrays - FPGA

Volumn , Issue , 2011, Pages 209-218

  Jerez, Juan Luis ^a   Constantinides, George Anthony ^a   Kerrigan, Eric C ^a  

^a IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

FPGA IMPLEMENTATIONS; GENERAL-PURPOSE MICROPROCESSORS; HIGH-THROUGHPUT; INDUSTRIAL CONTROLS; MEMORY REQUIREMENTS; MULTIPLE-INPUT-MULTIPLE-OUTPUT SYSTEMS; OPTIMIZATION METHOD; OPTIMIZATION PROBLEMS; PHYSICAL CONSTRAINTS; PHYSICAL SYSTEMS; PREDICTIVE CONTROL; QP-PROBLEM; SAMPLING FREQUENCIES; SOFTWARE IMPLEMENTATION;

LOGIC GATES; MATHEMATICAL MODELS; MICROPROCESSOR CHIPS; MIMO SYSTEMS; MODEL PREDICTIVE CONTROL; OPTIMIZATION; PREDICTIVE CONTROL SYSTEMS; QUADRATIC PROGRAMMING;

FIELD PROGRAMMABLE GATE ARRAYS (FPGA);

EID: 79952925993     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1145/1950413.1950454     Document Type: Conference Paper

References (22)

1. Core Generator guide, 2010 http://www.xilinx.com/itp/xilinx6/books/docs/ cgn/cgn.pdf.
2. Virtex-6 family overview, 2010 http://www.xilinx.com/support/ documentation/datasheets/ds150.pdf.
3. S. Bayliss, C. S. Bouganis, and G. A. Constantinides. An FPGA implementation of the Simplex algorithm. In Proc. Int. Conf. on Field Programmable Technology, pages 49-55, Bangkok, Thailand, Dec 2006. (Pubitemid 351410223)
4. D. Boland and G. A. Constantinides. An FPGA-based implementation of the MINRES algorithm. In Proc. Int. Conf. on Field Programmable Logic and Applications, pages 379-384, Heidelberg, Germany, Sep 2008.
5. D. Boland and G. A. Constantinides. Optimising memory bandwidth use for matrix-vector multiplication in iterative methods. In Proc. Int. Symp. on Applied Reconfigurable Computing, pages 169-181, Bangkok, Thailand, Mar 2010.
6. S. P. Boyd and L. Vandenberghe. Convex Optimization. Cambridge University Press, Cambridge, UK, 2004.
7. B. Fisher. Polynomial based iteration methods for symmetric linear systems. Wiley, Baltimore, MD, USA, 1996.
8. T. A. Johansen, W. Jackson, and P. T. Robert Schreiber. Hardware synthesis of explicit model predictive controllers. IEEE Transactions on Control Systems Technolog, 15(1):191-197, Jan 2007. (Pubitemid 46056111)
9. T. Keviczky and G. J. Balas. Receding horizon control of an F-16 aircraft: A comparative study. Control Engineering Practice, 14(9):1023-1033, Sep 2006.
10. G. Knagge, A. Wills, A. Mills, and B. Ninnes. ASIC and FPGA implementation strategies for model predictive control. In Proc. European Control Conference, Budapest, Hungary, Aug 2009.
11. S. L. Koh. Solving interior point method on a FPGA. Master's thesis, Nanyang Technological University, Singapore, 2009.
12. M. S. Lau, S. P. Yue, K.-V. Ling, and J. M. Maciejowski. A comparison of interior point and active set methods for FPGA implementation of model predictive control. In Proc. European Control Conference, pages 156-160, Budapest, Hungary, Aug 2009.
13. B. Leung, C.-H. Wu, S. O. Memik, and S. Mehrotra. An interior point optimization solver for real time inter-frame collision detection: Exploring resource-accuracy-platform tradeoffs. In Proc. Int. Conf. on Field Programmable Logic and Applications, pages 113-118, Milano, Italy, Sep 2010.
14. K.-V. Ling, B. F. Wu, and J. M. Maciejowski. Embedded model predictive control (MPC) using a FPGA. In Proc. 17th IFAC World Congress, pages 15250-15255, Seoul, Korea, Jul 2008.
15. K.-V. Ling, S. P. Yue, and J. M. Maciejowski. An FPGA implementation of model predictive control. In Proc. American Control Conference, page 6 pp., Minneapolis, USA, Jun 2006.
16. A. R. Lopes and G. A. Constantinides. A high throughput FPGA-based floating-point conjugate gradient implementation for dense matrices. In Proc. 4th Int. Workshop on Applied Reconfigurable Computing, pages 75-86, London, UK, Mar 2008.
17. J. Maciejowski. Predictive Control with Constraints. Pearson Education, Harlow, UK, 2001.
18. S. Mehrotra. On the implementation of a primal-dual interior point method. SIAM Journal on Optimization, 2(4):575-601, Nov 1992.
19. J. Nocedal and S. J. Wright. Numerical Optimization. Springer, New York, USA, 2006.
20. P. D. Vouzis, L. G. Bleris, M. G. Arnold, and M. V. Kothare. A system-on-a-chip implementation for embedded real-time model predictive control. IEEE Transactions on Control Systems Technology, 17(5):1006-1017, Sep 2009.
21. S. J. Wright. Applying new optimization algorithms to model predictive control. In Proc. Int. Conf. Chemical Process Control, pages 147-155. CACHE Publications, 1997.
22. S. J. Wright. Primal-Dual Interior-Point Methods. SIAM, Philadelphia, USA, 1997.