Robust explicit MPC design under finite precision arithmetic
| dc.contributor.author | Suardi, Andrea | |
| dc.contributor.author | Longo, Stefano | |
| dc.contributor.author | Kerrigan, Eric C. | |
| dc.contributor.author | Constantinides, George A. | |
| dc.date.accessioned | 2016-06-10T12:48:52Z | |
| dc.date.available | 2016-06-10T12:48:52Z | |
| dc.date.issued | 2014-08-29 | |
| dc.description.abstract | We propose a design methodology for explicit Model Predictive Control (MPC) that guarantees hard constraint satisfaction in the presence of finite precision arithmetic errors. The implementation of complex digital control techniques, like MPC, is becoming increasingly adopted in embedded systems, where reduced precision computation techniques are embraced to achieve fast execution and low power consumption. However, in a low precision implementation, constraint satisfaction is not guaranteed if infinite precision is assumed during the algorithm design. To enforce constraint satisfaction under numerical errors, we use forward error analysis to compute an error bound on the output of the embedded controller. We treat this error as a state disturbance and use this to inform the design of a constraint-tightening robust controller. Benchmarks with a classical control problem, namely an inverted pendulum, show how it is possible to guarantee, by design, constraint satisfaction for embedded systems featuring low precision, fixed-point computations. | en_UK |
| dc.identifier.citation | Andrea Suardi, Stefano Longo, Eric C. Kerrigan, George A. Constantinides, Robust explicit MPC design under finite precision arithmetic, IFAC Proceedings Volumes, Volume 47, Issue 3, 2014, Pages 2939-2944 | en_UK |
| dc.identifier.isbn | 78-1-63439-456-7 | |
| dc.identifier.issn | 1474-6670 | |
| dc.identifier.uri | http://www.ifac-papersonline.net/Detailed/66151.html | |
| dc.identifier.uri | https://dspace.lib.cranfield.ac.uk/handle/1826/9958 | |
| dc.language.iso | en | en_UK |
| dc.publisher | Elsevier | en_UK |
| dc.rights | Attribution-Non-Commercial-No Derivatives 3.0 Unported (CC BY-NC-ND 3.0). You are free to: Share — copy and redistribute the material in any medium or format. The licensor cannot revoke these freedoms as long as you follow the license terms. Under the following terms: Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. Information: Non-Commercial — You may not use the material for commercial purposes. No Derivatives — If you remix, transform, or build upon the material, you may not distribute the modified material. No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits. | |
| dc.subject | Hardware/software co-design | en_UK |
| dc.subject | Identification and control methods | en_UK |
| dc.subject | Cyber-physical systems | en_UK |
| dc.title | Robust explicit MPC design under finite precision arithmetic | en_UK |
| dc.type | Conference paper | en_UK |