Embedded Online Optimization for Model Predictive Control at Megahertz Rates
Embedded Online Optimization for Model Predictive Control at Megahertz Rates
Faster, cheaper, and more power efficient optimization solvers than those currently possible using general-purpose techniques are required for extending the use of model predictive control (MPC) to resource-constrained embedded platforms. We propose several custom computational architectures for different first-order optimization methods that can handle linear-quadratic MPC problems with input, input-rate, …