Graphical FPGA Design for a Predictive Controller with Application to Spacecraft Rendezvous
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Hartley, E., & Maciejowski, J. (2013). Graphical FPGA Design for a Predictive Controller with Application to Spacecraft Rendezvous. https://doi.org/10.1109/CDC.2013.6760170
A reconfigurable field-programmable gate array (FPGA)-based predictive controller based on Nesterov’s fast gradient method is designed using Simulink and converted to VHDL using Mathworks’ HDL Coder. The implementation is verified by application to a spacecraft rendezvous and capture scenario, with communication between the FPGA and a simulation of the relative dynamics occuring over Ethernet. For a problem with 120 decision variables and 240 constraints, computation times of 0.95 ms are achieved with a clock rate of 50 MHz, corresponding to a speed up of more than 2000 over running the algorithm directly on a MicroBlaze microprocessor implemented on the same FPGA.
Predictive control, Spacecraft control, Field Programmable Gate Array, Computer aided design methods, Graphical programming, Embedded systems, LASSO predictive control, Fast gradient method
This work was supported by the Engineering and Physical Sciences Research Council (Grant EP/G030308/1) as well as industrial support from Xilinx, Mathworks and the European Space Agency.
External DOI: https://doi.org/10.1109/CDC.2013.6760170
This record's URL: https://www.repository.cam.ac.uk/handle/1810/245183