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Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC

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Gepubliceerd in:arXiv.org (Mar 26, 2024), p. n/a
Hoofdauteur: Schoedel, Sam
Andere auteurs: Nguyen, Khai, Nedumaran, Elakhya, Plancher, Brian, Manchester, Zachary
Gepubliceerd in:
Cornell University Library, arXiv.org
Onderwerpen:
Predictive control
Microcontrollers
Solvers
Embedded systems
Constraints
Locomotion
Floating point arithmetic
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Samenvatting:Conic constraints appear in many important control applications like legged locomotion, robotic manipulation, and autonomous rocket landing. However, current solvers for conic optimization problems have relatively heavy computational demands in terms of both floating-point operations and memory footprint, making them impractical for use on small embedded devices. We extend TinyMPC, an open-source, high-speed solver targeting low-power embedded control applications, to handle second-order cone constraints. We also present code-generation software to enable deployment of TinyMPC on a variety of microcontrollers. We benchmark our generated code against state-of-the-art embedded QP and SOCP solvers, demonstrating a two-order-of-magnitude speed increase over ECOS while consuming less memory. Finally, we demonstrate TinyMPC's efficacy on the Crazyflie, a lightweight, resource-constrained quadrotor with fast dynamics. TinyMPC and its code-generation tools are publicly available at https://tinympc.org.
ISSN:2331-8422
Bron:Engineering Database