Method for Parallel FPGA Implementation of Nonlinear Model Predictive Control

In this paper we describe a method for parallel real-time implementation of nonlinear model predictive control (NMPC) with constraints on a Field Programmable Gate Array (FPGA). A NMPC scheme based on time-domain simulations that we have introduced in earlier publications is briefly outlined. The parallel implementation on an FPGA is reported with special focus on computational resources, computation time, computational precision and FPGA-specific boundary conditions. Real-time testbed results in a 3-dimensional trajectory planning scenario for a fixed-wing unmanned aerial vehicle (UAV) with a FPGA-based onboard computer in the loop prove compliance of the scheme and the implementation.