Towards Dependable Embedded Model Predictive Control
Towards Dependable Embedded Model Predictive Control
复制标题
迈向可靠的嵌入式模型预测控制
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
T. Johansen
中科院分区：
文献类型：
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作者：
T. Johansen
虽然模型预测控制（MPC）是过程工业中先进控制的工业首选方法，但它在汽车、航空航天、医疗和机器人等行业的消费产品和安全关键嵌入式系统应用中并没有太多用途。主要障碍是可实现性和可靠性，其中重要因素是在资源有限的嵌入式计算平台上实现高级数值优化算法以及相关的验证复杂性。这一挑战来自于在安全关键型应用中使用超可靠的硬件和软件架构、在消费类产品中使用低成本硬件或两者兼而有之的要求。本文综述了可靠的嵌入式MPC的新兴领域的最新技术，并讨论了一些关键的挑战，其设计，实现和验证。一个新的结果是基于模拟器的性能监测和控制选择方法的研究，该方法监测和预测MPC性能，并在MPC遇到性能问题的情况下切换到高度可靠的备用控制器。
While Model Predictive Control (MPC) is the industrially preferred method for advanced control in the process industries, it has not found much use in consumer products and safety-critical embedded systems applications in industries such as automotive, aerospace, medical and robotics. The main barriers are implementability and dependability, where important factors are implementation of advanced numerical optimization algorithms on resource-limited embedded computing platforms and the associated complexity of verification. This challenge comes from a requirement of the use of ultra-reliable hardware and software architectures in safety-critical applications, low-cost hardware in consumer products, or both. This paper surveys the state-of-the-art in the emerging field of dependable embedded MPC, and discusses some key challenges related to its design, implementation and verification. A novel result is the study of a simulator-based performance monitoring and control selection method that monitors and predicts MPC performance and switches to a highly reliable backup controller in cases when the MPC experiences performance issues.