IEEE Control Systems Society & American Automatic Control Council
Conference, Journal and Award Management System

2013 ACC Paper Abstract


Paper WeA21.5

Zometa, Pablo (OvG University Magdeburg), Koegel, Markus (OVG Univ. Magdeburg), Findeisen, Rolf (OVG University Magdeburg)

muAO-MPC: A Free Code Generation Tool for Embedded Real-Time Linear Model Predictive Control

Scheduled for presentation during the Regular Session "Embedded Systems " (WeA21), Wednesday, June 19, 2013, 10:50−11:10, Congressional Hall A

2013 American Control Conference, June 17-June 19, 2013, Washington, DC, USA

This information is tentative and subject to change. Compiled on May 15, 2021

Keywords Predictive control for linear systems, Embedded systems, Mechatronics


Implementing linear model predictive controllers in embedded systems with limited computational resources is still challenging. Recently, several code generation tools have been developed that produce highly efficient library-free optimization algorithms. We present a tool that focuses on controller performance and hardware with low computational resources. The underlying optimization algorithm has been explicitly developed for real-time embedded applications, and is based on an augmented Lagrangian method together with Nesterovís gradient method. The tool provides offline methods that allow the generation of online controllers that have low computational requirements and quickly reach good performance. We demonstrate the capabilities of the software, and the performance of the generated controllers with two examples.



Technical Content © IEEE Control Systems Society.

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2021 PaperCept, Inc.
Page generated 2021-05-15  18:58:41 PST Terms of use