Title :
Application Programming Interface for Real-Time Receding Horizon Control
Author :
Keviczky, Tamás ; Packard, Andrew ; Natale, Oreste R. ; Balas, Gary J.
Author_Institution :
Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN 55455, USA, keviczky@aem.umn.edu
Abstract :
An application programming interface (API) was developed to support implementation of receding horizon control (RHC) schemes with in the Open Control Platform (OCP) real-time software environment. The basic philosophy and process timing architecture is presented, along with details of a prototype implementation of a quadratic programming based generic RHC scheme. The API framework relies on a real-time software infrastructure and provides a high-level interface to control engineers, which simplifies the embedded control design and implementation process significantly. The RHC API was successfully a fight tested on a full-scale aircraft in the DARPA-sponsored Software Enabled Control program final demonstration experiment.
Keywords :
Aerospace engineering; Application software; Computer architecture; Control design; Design engineering; Embedded software; Prototypes; Quadratic programming; Software prototyping; Timing;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582343
