Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC Article Swipe
Sam Schoedel
,
Minh‐Khai Nguyen
,
Elakhya Nedumaran
,
Brian Plancher
,
Zachary Manchester
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2403.18149
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2403.18149
Model-predictive control (MPC) is a powerful framework for controlling dynamic systems under constraints, but it remains challenging to deploy on resource-constrained platforms, especially for problems involving conic constraints. To address this, we extend recent work developing fast, structure-exploiting, cached ADMM solvers for embedded applications, to provide support for second-order cones, as well as C++ code generation from Python, MATLAB, and Julia for easy deployment. Microcontroller benchmarks show that our solver provides up to a two-order-of-magnitude speedup, ranging from 10.6x to 142.7x, over state-of-the-art embedded solvers on QP and SOCP problems, and enables us to fit order-of-magnitude larger problems in memory. We validate our solver's deployed performance through simulation and hardware experiments, including conically-constrained trajectory tracking on a 27g Crazyflie quadrotor. To get started with Conic-TinyMPC, visit our documentation, examples, and the open-source codebase at https://tinympc.org.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2403.18149
- https://arxiv.org/pdf/2403.18149
- OA Status
- green
- Cited By
- 1
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4393299932
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4393299932Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2403.18149Digital Object Identifier
- Title
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Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPCWork title
- Type
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preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2024Year of publication
- Publication date
-
2024-03-26Full publication date if available
- Authors
-
Sam Schoedel, Minh‐Khai Nguyen, Elakhya Nedumaran, Brian Plancher, Zachary ManchesterList of authors in order
- Landing page
-
https://arxiv.org/abs/2403.18149Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2403.18149Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
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https://arxiv.org/pdf/2403.18149Direct OA link when available
- Concepts
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Microcontroller, Code (set theory), Conic section, Computer science, Control (management), Programming language, Model predictive control, Embedded system, Mathematics, Artificial intelligence, Set (abstract data type), GeometryTop concepts (fields/topics) attached by OpenAlex
- Cited by
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1Total citation count in OpenAlex
- Citations by year (recent)
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2024: 1Per-year citation counts (last 5 years)
- Related works (count)
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10Other works algorithmically related by OpenAlex
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