Efficient Embedded Model Predictive Vibration Control via Convex Lifting

Abstract : This paper presents an efficient real-time implementation of embedded model predictive control, adopted in the context of active vibration control with the objective of minimizing the tip deflection of lightly damped cantilever beams. In particular , we focus on memory and time-efficient explicit solutions to the associated constrained optimal control problem that are easily implementable on low-end embedded hardware. To this end, we exploit the concept of convex lifting and show how it can be used to devise low-complexity, regionless piecewise affine controllers without any loss of optimality and performance. Efficiency of this constructive procedure is quantified via an extensive complexity analysis, evidenced by a successful practical deployment and optimal vibration control performance using a family of 32-bit ARM Cortex-M based microcontroller platforms.