engleski

FPGA Implementation of Set-based Model Predictive Control

This paper presents an field-programmable gate array (FPGA) implementation of a model predictive controller (MPC) based on one-step controllable ellipsoidal sets. Ellipsoidal sets are precomputed off-line, while the MPC optimization problem is solved in real time in FPGA hardware. For solving the optimization problem, a fast gradient projection method is used. The implementation of a controller is verified in a FPGA-in-the-loop simulation, showing the computational times in microsecond range.

model predictive control ; fast gradient projection method ; field programmable gate array (FPGA)

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