A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control

Ryan M. Bena, Sushmit Hossain, Buyun Chen, Wei Wu, Quan Nguyen
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引用次数: 1

Abstract

We present a new framework for implementing real-time embedded safety-critical controllers which utilizes hybrid computing to address the issue of limited computational resources, a problem that is particularly prevalent in microrobotics. In our approach, the nominal stabilizing control algorithm is implemented digitally while the safety-critical quadratic program is solved via a dedicated analog resistor array. We apply this hybrid computing architecture to a simulated collision avoidance task for a micro-aerial vehicle and show the benefit relative to a purely-digital implementation. By leveraging analog quadratic programming on the Crazyflie 2.1 micro quadrotor, a reduction in overall processing time from 8.9 ms to 0.6 ms is estimated for this computationally-limited system. We further display the viability of our proposed safety-critical control framework through real-time flight demonstrations, utilizing a novel prototype analog circuit tethered to the Crazyflie. The flight results confirm the functionality of the control structure and prototype circuit while highlighting the overall capabilities of hybrid computing.
一种用于实时嵌入式安全关键控制的混合二次规划框架
我们提出了一个新的框架来实现实时嵌入式安全关键控制器,它利用混合计算来解决有限的计算资源问题,这是一个在微型机器人中特别普遍的问题。在我们的方法中,标称稳定控制算法是数字实现的,而安全关键二次程序是通过专用模拟电阻阵列解决的。我们将这种混合计算架构应用于微型飞行器的模拟避碰任务,并展示了相对于纯数字实现的优势。通过利用模拟二次编程在crazyfly 2.1微型四旋翼飞行器上,总体处理时间从8.9 ms减少到0.6 ms,估计用于这个计算有限的系统。通过实时飞行演示,我们进一步展示了我们提出的安全关键控制框架的可行性,利用连接到crazyfly的新型原型模拟电路。飞行结果证实了控制结构和原型电路的功能,同时突出了混合计算的整体能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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