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dc.contributor.authorHartley, Edwarden
dc.contributor.authorMaciejowski, Janen
dc.date.accessioned2014-07-04T14:52:02Z
dc.date.available2014-07-04T14:52:02Z
dc.date.issued2014-03-27en
dc.identifier.citationE. N. Hartley and J. M. Maciejowski. Field programmable gate array based predictive control system for spacecraft rendezvous in elliptical orbits. Optimal Control Applications and Methods, (Article in press), 2014.en
dc.identifier.issn0143-2087
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/245388
dc.description.abstractA field programmable gate array (FPGA)-based model predictive controller (MPC) for two phases of spacecraft rendezvous is presented. Linear time varying prediction models are used to accommodate elliptical orbits, and a variable prediction horizon is used to facilitate finite time completion of the longer-range man{\oe}uvres, whilst a fixed and receding prediction horizon is used for fine-grained tracking at close range. The resulting constrained optimisation problems are solved using a primal dual interior point algorithm. The majority of the computational demand is in solving a system of simultaneous linear equations at each iteration of this algorithm. To accelerate these operations, a custom circuit is implemented, using a combination of Mathworks HDL Coder and Xilinx System Generator for DSP, and used as a peripheral to a MicroBlaze soft core processor on the FPGA, on which the remainder of the system is implemented. Certain logic that can be hard-coded for fixed sized problems is implemented to be configurable online, in order to accommodate the varying problem sizes associated with the variable prediction horizon. The system is demonstrated in closed loop by linking the FPGA with a simulation of the spacecraft dynamics running in Simulink on a PC, using Ethernet. Timing comparisons indicate that the custom implementation is substantially faster than pure embedded software-based interior point methods running on the same MicroBlaze, and could be competitive with a pure custom hardware implementation.
dc.description.sponsorshipThis work was supported by the Engineering and Physical Sciences Research Council Grant Number [EP/G030308/1] as well as industrial support from Xilinx, Mathworks, and the European Space Agency.
dc.publisherWiley
dc.subjectpredictive controlen
dc.subjectMPCen
dc.subjectspacecraft rendezvousen
dc.subjectembedded systemsen
dc.subjectFPGAen
dc.subjecttime-varying systemsen
dc.subjectaerospaceen
dc.subjectreceding horizonen
dc.subjectvariable horizonen
dc.titleField Programmable Gate Array Based Predictive Control System for Spacecraft Rendezvous in Elliptical Orbitsen
dc.typeArticle
prism.publicationDate2014en
rioxxterms.versionofrecord10.1002/oca.2117en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2014-03-27en
dc.contributor.orcidHartley, Edward [0000-0001-5491-229X]
dc.contributor.orcidMaciejowski, Jan [0000-0001-8281-8364]
dc.identifier.eissn1099-1514
rioxxterms.typeJournal Article/Reviewen
pubs.funder-project-idEPSRC (EP/G030308/1)
rioxxterms.freetoread.startdate2015-03-27


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