Abstract:
The use of reduced-precision formats is a valuable strategy to improve performance and reduce costs in embedded computing. In case of embedded model predictive control (M...Show MoreMetadata
Abstract:
The use of reduced-precision formats is a valuable strategy to improve performance and reduce costs in embedded computing. In case of embedded model predictive control (MPC), utilizing reduced-precision numbers to speed-up underlying optimization algorithms can help to extend the application scope of MPC. In this paper we show how the improved spectral properties of linear systems inside interior point-proximal method of multipliers (IP-PMM) combined with the application of online regularization and instability correction mechanisms, can prevent embedded MPC controllers from failure when reduced-precision arithmetic units are used. Thus, the proposed approach can also contribute to designing efficient domain-specific processors for embedded MPC using custom floating-point formats. To our knowledge this is the first time an IP-PMM algorithm is applied to solve quadratic programming (QP) problems in MPC.
Date of Conference: 13-16 October 2021
Date Added to IEEE Xplore: 10 November 2021
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- IEEE Keywords
- Index Terms
- Model Predictive Control ,
- Optimization Algorithm ,
- Linear System ,
- Predictive Control ,
- Quadratic Programming ,
- Quadratic Programming Problem ,
- Factorization ,
- Weight Matrix ,
- Decision Variables ,
- Regularization Parameter ,
- Equality Constraints ,
- Newton Method ,
- State-space Model ,
- Penalty Term ,
- Interior Point ,
- Penalty Parameter ,
- Numerical Stability ,
- Null Space ,
- System Of Linear Equations ,
- Instability Events ,
- Interior Point Method ,
- Discrete-time Model ,
- Model Predictive Control Problem ,
- Closed-loop Performance ,
- Desktop PC ,
- Direct Solver ,
- Linear Solver ,
- Lagrange Multiplier ,
- Optimal Control ,
- Input Vector
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Model Predictive Control ,
- Optimization Algorithm ,
- Linear System ,
- Predictive Control ,
- Quadratic Programming ,
- Quadratic Programming Problem ,
- Factorization ,
- Weight Matrix ,
- Decision Variables ,
- Regularization Parameter ,
- Equality Constraints ,
- Newton Method ,
- State-space Model ,
- Penalty Term ,
- Interior Point ,
- Penalty Parameter ,
- Numerical Stability ,
- Null Space ,
- System Of Linear Equations ,
- Instability Events ,
- Interior Point Method ,
- Discrete-time Model ,
- Model Predictive Control Problem ,
- Closed-loop Performance ,
- Desktop PC ,
- Direct Solver ,
- Linear Solver ,
- Lagrange Multiplier ,
- Optimal Control ,
- Input Vector