Predictive Control of a Boeing 747 aircraft using an {FPGA}
Hartley E.N. and Jerez J.L. and Suardi A. and Maciejowski J.M. and Kerrigan E.C. and Constantinides G.A.
Proceedings of the IFAC NMPC '12 Conference, Pages 80--85, August 2012
DOI: 10.3182/20120823-5-NL-3013.00016
Abstract
New embedded predictive control applications call for more ecient 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 an fi eld-programmable
gate array (FPGA) with an iterative linear solver at its core. A novel off-line 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. Simulation results show that the quality of the closed-loop control
and accuracy of individual solutions is competitive with a more conventional double precision
controller solving linear systems using a Riccati recursion.
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BibTex Entry
- @InProceedings{,
- author = {Hartley E.N. and Jerez J.L. and Suardi A. and Maciejowski J.M. and Kerrigan E.C. and Constantinides G.A.},
- title = {Predictive Control of a Boeing 747 aircraft using an {FPGA}},
- address = {Noordwijkerhout, NL},
- booktitle = {Proceedings of the IFAC NMPC '12 Conference},
- month = {August},
- note = {DOI: 10.3182/20120823-5-NL-3013.00016},
- pages = {80--85},
- year = {2012}
- }
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