A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control
Ryan M. Bena,Sushmit Hossain,Buyun Chen,Wei Wu,Quan Nguyen,Ryan M. Bena,Sushmit Hossain,Buyun Chen,Wei Wu,Quan Nguyen
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 ...
