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Graphical {FPGA} Design for a Predictive Controller with Application to Spacecraft Rendezvous

Hartley E.N. and Maciejowski J.M.

2013
(Accepted for presentation at CDC '13)

Abstract

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 \unit{0.95}{\milli\second} are achieved with a clock rate of \unit{50}{\mega\hertz}, corresponding to a speed up of almost 2500 over running the algorithm directly on a MicroBlaze microprocessor implemented on the same FPGA.

BibTex Entry

@InProceedings{,: author = {Hartley E.N. and Maciejowski J.M.},; title = {Graphical {FPGA} Design for a Predictive Controller with Application to Spacecraft Rendezvous},; address = {Florence, Italy},; note = {(Accepted for presentation at CDC '13)},; year = {2013}
}



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