Conference paper
Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices
Department of Applied Mathematics and Computer Science, Technical University of Denmark1
Scientific Computing, Department of Applied Mathematics and Computer Science, Technical University of Denmark2
Norwegian University of Science and Technology3
CITIES - Centre for IT-Intelligent Energy Systems, Centers, Technical University of Denmark4
This paper proposes a novel approach for the efficient implementation of solvers for linear MPC on embedded devices. The main focus is to explain in detail the approach used to optimize the linear algebra for selected low-power embedded devices, and to show how the high-performance implementation of a single routine (the matrix-matrix multiplication gemm) can speed-up an interior-point method for linear MPC.
The results show that the high-performance MPC obtained using the proposed approach is several times faster than the current state-of-the-art IP method for linear MPC on embedded devices.
Language: | English |
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Publisher: | IEEE |
Year: | 2014 |
Pages: | 1954-1959 |
Proceedings: | 2014 IEEE Conference on Control Applications |
Journal subtitle: | Part of 2014 Ieee Multi-conference on Systems and Control |
ISBN: | 1479974080 and 9781479974085 |
Types: | Conference paper |
DOI: | 10.1109/CCA.2014.6981589 |
ORCIDs: | Jørgensen, John Bagterp |