Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices

Gianluca Frison, D. Kwame Minde Kufoalor, Lars Imsland, John Bagterp Jørgensen

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of 2014 IEEE International Conference on Control Applications (CCA) : Part of 2014 IEEE Multi-conference on Systems and Control
PublisherIEEE
Publication date2014
Pages1954-1959
ISBN (Print)978-1-4799-7408-5
DOIs
Publication statusPublished - 2014
Event2014 IEEE International Conference on Control Applications (CCA): Part of 2014 IEEE Multi-conference on Systems and Control - Antibes, France
Duration: 8 Oct 201410 Oct 2014

Conference

Conference2014 IEEE International Conference on Control Applications (CCA)
CountryFrance
CityAntibes
Period08/10/201410/10/2014

Cite this

Frison, G., Kwame Minde Kufoalor, D., Imsland, L., & Jørgensen, J. B. (2014). Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices. In Proceedings of 2014 IEEE International Conference on Control Applications (CCA): Part of 2014 IEEE Multi-conference on Systems and Control (pp. 1954-1959). IEEE. https://doi.org/10.1109/CCA.2014.6981589
Frison, Gianluca ; Kwame Minde Kufoalor, D. ; Imsland, Lars ; Jørgensen, John Bagterp. / Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices. Proceedings of 2014 IEEE International Conference on Control Applications (CCA): Part of 2014 IEEE Multi-conference on Systems and Control. IEEE, 2014. pp. 1954-1959
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title = "Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices",
abstract = "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.",
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Frison, G, Kwame Minde Kufoalor, D, Imsland, L & Jørgensen, JB 2014, Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices. in Proceedings of 2014 IEEE International Conference on Control Applications (CCA): Part of 2014 IEEE Multi-conference on Systems and Control. IEEE, pp. 1954-1959, 2014 IEEE International Conference on Control Applications (CCA), Antibes, France, 08/10/2014. https://doi.org/10.1109/CCA.2014.6981589

Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices. / Frison, Gianluca; Kwame Minde Kufoalor, D.; Imsland, Lars; Jørgensen, John Bagterp.

Proceedings of 2014 IEEE International Conference on Control Applications (CCA): Part of 2014 IEEE Multi-conference on Systems and Control. IEEE, 2014. p. 1954-1959.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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N2 - 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.

AB - 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.

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Frison G, Kwame Minde Kufoalor D, Imsland L, Jørgensen JB. Efficient Implementation of Solvers for Linear Model Predictive Control on Embedded Devices. In Proceedings of 2014 IEEE International Conference on Control Applications (CCA): Part of 2014 IEEE Multi-conference on Systems and Control. IEEE. 2014. p. 1954-1959 https://doi.org/10.1109/CCA.2014.6981589