Journal ArticleDOI
FPGA Implementation of an Embedded Robust Adaptive Controller for Autonomous Omnidirectional Mobile Platform
Hsu-Chih Huang,Ching-Chih Tsai +1 more
TLDR
The adaptive controller to achieve point stabilization, trajectory tracking, and path following is synthesized via the adaptive backstepping approach and implemented into a high-performance field-programmable gate array chip using hardware/software codesign technique and system-on-a- programmable-chip design concept with a reusable user intellectual property core library.Abstract:
This paper presents an embedded adaptive robust controller for trajectory tracking and stabilization of an omnidirectional mobile platform with parameter variations and uncertainties caused by friction and slip. Based on a dynamic model of the platform, the adaptive controller to achieve point stabilization, trajectory tracking, and path following is synthesized via the adaptive backstepping approach. This robust adaptive controller is then implemented into a high-performance field-programmable gate array chip using hardware/software codesign technique and system-on-a-programmable-chip design concept with a reusable user intellectual property core library. Furthermore, a soft-core processor and a real-time operating system are embedded into the same chip for realizing the control law to steer the mobile platform. Simulation results are conducted to show the effectiveness and merit of the proposed control method in comparison with a conventional proportional-integral feedback controller. The performance and applicability of the proposed embedded adaptive controller are exemplified by conducting several experiments on an autonomous omnidirectional mobile robot.read more
Citations
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Journal ArticleDOI
Design and Implementation of Fuzzy Control on a Two-Wheel Inverted Pendulum
TL;DR: This paper introduces the design and implementation of a two-wheel inverted pendulum (TWIP) system with a fuzzy control scheme and the system-on-a-programmable-chip (SoPC) technology.
Journal ArticleDOI
Online Minimum-Energy Trajectory Planning and Control on a Straight-Line Path for Three-Wheeled Omnidirectional Mobile Robots
Hongjun Kim,Byung Kook Kim +1 more
TL;DR: An efficient online trajectory planning algorithm is suggested, which minimizes a practical cost function as the energy that is drawn from batteries to motors, which is based on an accurate TOMR dynamic model that includes both the Coriolis force and the actuator motor dynamics.
Journal ArticleDOI
T-S Fuzzy Model-Based Adaptive Dynamic Surface Control for Ball and Beam System
TL;DR: Simulation and experimental results illustrate that the proposed T-S fuzzy model-based adaptive dynamic surface controller has much better performance than that of conventional DSC.
Journal ArticleDOI
A Versatile Power Electronics Test-Bench Architecture Applied to Domestic Induction Heating
TL;DR: The aim of this paper is to present a versatile power electronics architecture which provides a tool to make the implementation and evaluation of new power converters straightforward and can be extended to other applications with similar requirements.
Journal ArticleDOI
FPGA Realization of an Adaptive Fuzzy Controller for PMLSM Drive
TL;DR: This paper presents a hardware realization of an adaptive fuzzy controller (AFC) for a permanent-magnet linear synchronous motor (PMLSM) drive system based on the field-programmable gate-array (FPGA) technology.
References
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