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• W2227886250 abstract "This paper proposes a method to design robust model predictive control (MPC) laws for discrete-time linear systems with hard mixed constraints on states and inputs, in case of only an inexact solution of the associated quadratic program is available, because of real-time requirements. By using a recently proposed dual gradient-projection algorithm, it is proved that the discrepancy of the optimal control law as compared with the obtained one is bounded even if the solver is implemented in fixed-point arithmetic. By defining an alternative MPC problem with tightened constraints, a feasible solution is obtained for the original MPC problem, which guarantees recursive feasibility and asymptotic stability of the closed-loop system with respect to a set including the origin, also considering the presence of external disturbances. The proposed MPC law is implemented on a field-programmable gate array in order to show the practical applicability of the method. Copyright © 2016 John Wiley & Sons, Ltd." @default.
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• W2227886250 date "2016-01-12" @default.
• W2227886250 modified "2023-10-10" @default.
• W2227886250 title "Real-time model predictive control based on dual gradient projection: Theory and fixed-point FPGA implementation" @default.
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• W2227886250 doi "https://doi.org/10.1002/rnc.3507" @default.
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