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Communication Dans Un Congrès Année : 2017

Embedded linear model predictive control for 8-bit microcontrollers via convex lifting

Résumé

This paper demonstrates an efficient approach for the implementation of parametric programming solutions to linear model predictive control problems. The emphasis is put namely on embedded hardware applications where feasible size and online evaluation of the controller code can be mission critical. As the explicit solutions are known to become quickly intractable for such a purpose once the amount of problem data grows, we exploit the concept of convex lifting of a given parameter space partition, and use it to avoid its storage and to replace the traditional point location with a significantly less costly procedure. In this light we practically illustrate the deployment of generated code on an 8-bit microcontroller unit, representing the class of low-cost embedded controllers built into mass-produced devices, in an active vibration suppression case study accompanied by a detailed performance, memory and timing analysis.

Dates et versions

hal-01813856 , version 1 (12-06-2018)

Identifiants

Citer

Martin Gulan, Ngoc Anh Nguyen, Sorin Olaru, Pedro Rodriguez-Ayerbe, Boris Rohal'-Ilkiv. Embedded linear model predictive control for 8-bit microcontrollers via convex lifting. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨10.1016/j.ifacol.2017.08.2220⟩. ⟨hal-01813856⟩
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