Graphical FPGA Design for a Predictive Controller with Application to Spacecraft Rendezvous
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Institute of Electrical and Electronics Engineers (IEEE)
https://doi.org/10.1109/cdc.2013.6760170
https://doi.org/10.1109/cdc.2013.6760170
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A reconfigurable field-programmable gate array (FPGA)-based predictive controller based on Nesterov's fast gradient method is designed using Simulink and converted to VHDL using Mathworks' HDL Coder. The implementation is verified by application to a spacecraft rendezvous and capture scenario, with communication between the FPGA and a simulation of the relative dynamics occuring over Ethernet. For a problem with 120 decision variables and 240 constraints, computation times of 0.95 ms are achieved with a clock rate of 50 MHz, corresponding to a speed up of more than 2000 over running the algorithm directly on a MicroBlaze microprocessor implemented on the same FPGA.
This work was supported by the Engineering and Physical Sciences Research Council (Grant EP/G030308/1) as well as industrial support from Xilinx, Mathworks and the European Space Agency.
52nd IEEE Conference on Decision and Control, December 10-13, 2013, Palazzo dei Congressi, Florence, Italy.
This work was supported by the Engineering and Physical Sciences Research Council (Grant EP/G030308/1) as well as industrial support from Xilinx, Mathworks and the European Space Agency.
52nd IEEE Conference on Decision and Control, December 10-13, 2013, Palazzo dei Congressi, Florence, Italy.