Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the European Control Conference (ECC 2015) |
| Publisher | IEEE |
| Publication date | 2015 |
| Pages | 3414-3421 |
| ISBN (Print) | 978-3-9524269-3-7 |
| DOIs | |
| Publication status | Published - 2015 |
| Event | 14th European Control Conference (ECC 2015) - Johannes Kepler University, Linz, Austria Duration: 15 Jul 2015 → 17 Jul 2015 Conference number: 15 http://www.ecc15.at/ |
Conference
| Conference | 14th European Control Conference (ECC 2015) |
|---|---|
| Number | 15 |
| Location | Johannes Kepler University |
| Country/Territory | Austria |
| City | Linz |
| Period | 15/07/2015 → 17/07/2015 |
| Internet address |