A Cloud-Enabled Rate-Switching MPC Architecture

A two-tier architecture for cloud-based MPC is presented consisting of a high rate MPC in the cloud and a low rate MPC on the local device. The system use the cloud MPC as the nominal controller but switches to local MPC in case of an unresponsive network. The two MPCs are designed to be as similar to each other as possible except for the sampling rate. Different alternatives for when to execute the local MPC and how to perform the switching are presented. The approach is evaluated by simulation.