Field-programmable gate arrays (FPGAs);
hierarchical systems;
model predictive control (MPC);
piecewise-affine (PWA) systems;
PWA controllers;
POINT LOCATION PROBLEM;
PIECEWISE-AFFINE;
FUZZY-SYSTEMS;
COMPLEXITY;
STABILITY;
D O I:
10.1109/TCST.2017.2775187
中图分类号:
TP [自动化技术、计算机技术];
学科分类号:
0812 ;
摘要:
This paper presents a new form of piecewise-affine (PWA) solution, referred to as PWA hierarchical (PWAH), to approximate the explicit model predictive control (MPC) law, achieving a very rapid control response with the use of very few computational and memory resources. This is possible because PWAH controllers consist of single-input single-output PWA modules connected in cascade so that the parameters needed to define them increase linearly instead of exponentially with the input dimension of the control problem. PWAH controllers are not universal approximators but several explicit MPC controllers can be efficiently approximated by them. A methodology to design PWAH controllers is presented and validated with application examples already solved by MPC approaches. The designed PWAH controllers implemented in field-programmable gate arrays provide the highest control speed using the fewest resources compared with the other digital implementations reported in the literature.