Optimal Control of an Atomic Force Microscope on an FPGA using the Fast Gradient Method

Add to your list(s) Download to your calendar using vCal

• Juan Jerez Fullana (Imperial College)
• Wednesday 28 November 2012, 11:00-12:00
• Level 9 Mahanakorn Lab., EE Dept..

If you have a question about this talk, please contact Grigorios Mingas.

The implementation of advanced optimal control schemes in resource-constrained embedded platforms requires faster, cheaper and more power-efficient alternatives for computing moderately accurate solutions to convex quadratic programs. In this talk we will present a fixed-point FPGA -based implementation of a primal fast gradient solver for predictive control. We provide the necessary signal range analysis to guarantee that no overflow errors occur during operation, and we provide fixed-point error analysis to guarantee a given accuracy at the solution in terms of the number of bits used. These results can also be used for implementing fast gradient solvers on other low cost and low power platforms such as fixed-point DSPs and embedded microcontrollers. The approach is demonstrated on a model of an industrial atomic force microscope. It is shown that the control performance is satisfactory and sample rates beyond 1MHz are achievable on a mid-range modern FPGA , opening new possibilities for the application of predictive control.

This talk is part of the CAS Talks series.

This talk is included in these lists:

• Andrea Picciau's list
• CAS Talks
• Circuits and Systems Group: Internal Seminars
• Level 9 Mahanakorn Lab., EE Dept.

Note that ex-directory lists are not shown.