Imprecise Computation Based Real-time Fault Tolerant Implementation for Model Predictive Control

摘要

Model predictive control (MPC) could not be deployed in real-time control systems for its computation time is not well defined. A real-time fault tolerant implementation algorithm based on imprecise computation is proposed for MPC, according to the solving process of quadratic programming (QP) problem. In this algorithm, system stability is guaranteed even when computation resource is not enough to finish optimization completely. By this kind of graceful degradation, the behavior of real-time control systems is still predictable and determinate. The algorithm is demonstrated by experiments on servomotor, and the simulation results show its effectiveness.