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dc.contributor.authorHartley, Edwarden
dc.contributor.authorJerez, Juan Len
dc.contributor.authorSuardi, Andreaen
dc.contributor.authorMaciejowski, Janen
dc.contributor.authorKerrigan, Eric Cen
dc.contributor.authorConstantinides, George Aen
dc.date.accessioned2014-02-21T12:17:40Z
dc.date.available2014-02-21T12:17:40Z
dc.date.issued2012-08-24en
dc.identifier.issn1474-6670
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/245181
dc.description.abstractNew embedded predictive control applications call for more efficient ways of solving quadratic programs (QPs) in order to meet demanding real-time, power and cost requirements. A single precision QP-on-a-chip controller is proposed, implemented in a field-programmable gate array (FPGA) with an iterative linear solver at its core. A novel offline scaling procedure is introduced to aid the convergence of the reduced precision solver. The feasibility of the proposed approach is demonstrated with a real-time hardware-in-the-loop (HIL) experimental setup where an ML605 FPGA board controls a nonlinear model of a Boeing 747 aircraft running on a desktop PC through an Ethernet link. Simulations show that the quality of the closed-loop control and accuracy of individual solutions is competitive with a conventional double precision controller solving linear systems using a Riccati recursion.
dc.description.sponsorshipThis work was supported by the EPSRC (Grants EP/G031576/1, EP/G030308/1 and EP/I012036/1) and the EU FP7 Project EMBOCON, as well as industrial support from Xilinx, the Mathworks, and the European Space Agency.
dc.languageEnglishen
dc.language.isoenen
dc.subjectPredictive controlen
dc.subjectAircraft controlen
dc.subjectModel predictive controlen
dc.subjectEmbedded systemsen
dc.subjectField Programmable Gate Arrayen
dc.subjectReal time controlen
dc.titlePredictive Control of a Boeing 747 Aircraft using an FPGAen
dc.typeArticle
dc.description.versionIFAC Conference on Nonlinear Model Predictive Control 2012 (NMPC'12), Noordwijkerhout, the Netherlands on August 23 - 27, 2012.en
prism.publicationDate2012en
rioxxterms.versionofrecord10.3182/20120823-5-NL-3013.00016en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2012-08-24en
dc.contributor.orcidHartley, Edward [0000-0001-5491-229X]
dc.contributor.orcidMaciejowski, Jan [0000-0001-8281-8364]
rioxxterms.typeJournal Article/Reviewen
pubs.funder-project-idEPSRC (EP/G030308/1)


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