We propose an implementation of an interior-point-based nonlinear predictive controller on a heterogeneous processor. The workload can be split between a general-purpose CPU and a field-programmable gate array to trade off the contradicting design objectives of control performance and computational resource usage. A new way of exploiting the structure of the KKT matrix yields significant memory savings. We report an 18x memory saving, compared to existing approaches, and a 36x speedup over a software implementation with an ARM Cortex-A9 processor. We also introduce a new release of Protoip, which abstracts low-level details of heterogeneous programming and allows processor-in-the-loop verification.
@article{arxiv.1710.08737,
title = {Nonlinear Predictive Control on a Heterogeneous Computing Platform},
author = {Bulat Khusainov and Eric C. Kerrigan and Andrea Suardi and George A. Constantinides},
journal= {arXiv preprint arXiv:1710.08737},
year = {2018}
}