Supply-noise resilient adaptive clocking for battery-powered aerial microrobotic System-on-Chip in 40nm CMOS

A battery-powered aerial microrobotic System-on-Chip (SoC) has stringent weight and power budgets, which requires fully-integrated solutions for both clock generation and voltage regulation. Supply-noise resilience is important yet challenging for such SoC systems due to a non-constant battery discharge profile and load current variability. This paper proposes an adaptive-frequency clocking scheme that can tolerate supply noise and improve performance when implemented with an integrated voltage regulator (IVR). Measurements from a `brain´ SoC, implemented in 40nm CMOS, demonstrate 2× performance improvement with adaptive-frequency clocking over conventional fixed-frequency clocking. Combining adaptive-frequency clocking with open-loop IVR extends error-free operation to a wider battery voltage range (2.8 to 3.8V) with higher average performance.