Design of FPGA-based Sliding Mode Controller for Robot Manipulator.
One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, and uncertainty. At present, robot manipulators is used in unknown and unstructured situation and caused to provide complicated syste...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
2011
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| _version_ | 1796970351093088256 |
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| author | Sulaiman, Nasri Marhaban, Mohammad Hamiruce Piltan, Farzin Nowzary, Adel Tohidian, Mostafa |
| author_facet | Sulaiman, Nasri Marhaban, Mohammad Hamiruce Piltan, Farzin Nowzary, Adel Tohidian, Mostafa |
| author_sort | Sulaiman, Nasri |
| collection | UPM |
| description | One of the most active research areas in the field of robotics is robot manipulators control,
because these systems are multi-input multi-output (MIMO), nonlinear, and uncertainty. At
present, robot manipulators is used in unknown and unstructured situation and caused to
provide complicated systems, consequently strong mathematical tools are used in new control
methodologies to design nonlinear robust controller with satisfactory performance (e.g.,
minimum error, good trajectory, disturbance rejection). Robotic systems controlling is vital due
to the wide range of application. Obviously stability and robustness are the most minimum
requirements in control systems; even though the proof of stability and robustness is more
important especially in the case of nonlinear systems. One of the best nonlinear robust
controllers which can be used in uncertainty nonlinear systems is sliding mode controller
(SMC). Chattering phenomenon is the most important challenge in this controller. Most of
nonlinear controllers need real time mobility operation; one of the most important devices which
can be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be
used to design a controller in a single chip Integrated Circuit (IC). In this research the SMC is
designed using VHDL language for implementation on FPGA device (XA3S1600E-Spartan-3E),
with minimum chattering and high processing speed (63.29 MHz). |
| first_indexed | 2024-03-06T07:56:45Z |
| format | Article |
| id | upm.eprints-23393 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T07:56:45Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | upm.eprints-233932014-09-09T06:45:45Z http://psasir.upm.edu.my/id/eprint/23393/ Design of FPGA-based Sliding Mode Controller for Robot Manipulator. Sulaiman, Nasri Marhaban, Mohammad Hamiruce Piltan, Farzin Nowzary, Adel Tohidian, Mostafa One of the most active research areas in the field of robotics is robot manipulators control, because these systems are multi-input multi-output (MIMO), nonlinear, and uncertainty. At present, robot manipulators is used in unknown and unstructured situation and caused to provide complicated systems, consequently strong mathematical tools are used in new control methodologies to design nonlinear robust controller with satisfactory performance (e.g., minimum error, good trajectory, disturbance rejection). Robotic systems controlling is vital due to the wide range of application. Obviously stability and robustness are the most minimum requirements in control systems; even though the proof of stability and robustness is more important especially in the case of nonlinear systems. One of the best nonlinear robust controllers which can be used in uncertainty nonlinear systems is sliding mode controller (SMC). Chattering phenomenon is the most important challenge in this controller. Most of nonlinear controllers need real time mobility operation; one of the most important devices which can be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be used to design a controller in a single chip Integrated Circuit (IC). In this research the SMC is designed using VHDL language for implementation on FPGA device (XA3S1600E-Spartan-3E), with minimum chattering and high processing speed (63.29 MHz). 2011 Article PeerReviewed Sulaiman, Nasri and Marhaban, Mohammad Hamiruce and Piltan, Farzin and Nowzary, Adel and Tohidian, Mostafa (2011) Design of FPGA-based Sliding Mode Controller for Robot Manipulator. International Journal of Robotics and Automation, 2 (3). pp. 173-194. ISSN 2180-1312 http://www.cscjournals.org/csc/manuscript/Journals/IJRA/volume2/Issue3/IJRA-40.pdf English |
| spellingShingle | Sulaiman, Nasri Marhaban, Mohammad Hamiruce Piltan, Farzin Nowzary, Adel Tohidian, Mostafa Design of FPGA-based Sliding Mode Controller for Robot Manipulator. |
| title | Design of FPGA-based Sliding Mode Controller for Robot Manipulator. |
| title_full | Design of FPGA-based Sliding Mode Controller for Robot Manipulator. |
| title_fullStr | Design of FPGA-based Sliding Mode Controller for Robot Manipulator. |
| title_full_unstemmed | Design of FPGA-based Sliding Mode Controller for Robot Manipulator. |
| title_short | Design of FPGA-based Sliding Mode Controller for Robot Manipulator. |
| title_sort | design of fpga based sliding mode controller for robot manipulator |
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