Conference paper
MPC Related Computational Capabilities of ARMv7A Processors
Department of Applied Mathematics and Computer Science, Technical University of Denmark1
Scientific Computing, Department of Applied Mathematics and Computer Science, Technical University of Denmark2
Center for Energy Resources Engineering, Centers, Technical University of Denmark3
CITIES - Centre for IT-Intelligent Energy Systems, Centers, Technical University of Denmark4
In recent years, the mass market of mobile devices has pushed the demand for increasingly fast but cheap processors. ARM, the world leader in this sector, has developed the Cortex-A series of processors with focus on computationally intensive applications. If properly programmed, these processors are powerful enough to solve the complex optimization problems arising in MPC in real-time, while keeping the traditional low-cost and low-power consumption.
This makes these processors ideal candidates for use in embedded MPC. In this paper, we investigate the floating-point capabilities of Cortex A7, A9 and A15 and show how to exploit the unique features of each processor to obtain the best performance, in the context of a novel implementation method for the linear-algebra routines used in MPC solvers.
This method adapts high-performance computing techniques to the needs of embedded MPC. In particular, we investigate the performance of matrix-matrix and matrix-vector multiplications, which are the backbones of second- and first-order methods for convex optimization. Finally, we test the performance of MPC solvers implemented using these optimized linear-algebra routines.
| Language: | English |
|---|---|
| Publisher: | IEEE |
| Year: | 2015 |
| Pages: | 3414-3421 |
| Proceedings: | 14th European Control Conference (ECC 2015)European Control Conference |
| ISBN: | 1467371602 , 3952426938 , 3952426946 , 9781467371605 , 9783952426937 and 9783952426944 |
| Types: | Conference paper |
| DOI: | 10.1109/ECC.2015.7331062 |
| ORCIDs: | Jørgensen, John Bagterp |
ARMv7A processors Computer architecture Cortex A15 Cortex A7 Cortex A9 Cortex-A processor series Hardware Kernel Libraries MPC related computational capabilities Optimization Program processors Registers complex optimization problems convex optimization convex programming embedded MPC solver embedded systems first-order methods floating point arithmetic floating-point capabilities high-performance computing techniques linear algebra low-power consumption matrix multiplication matrix-matrix multiplications matrix-vector multiplications microprocessor chips mobile devices mobile handsets optimized linear-algebra routines parallel processing second-order methods
