FPGA in the loop implementation of the PUMA 560 robot based on backstepping control

The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in‐the‐loop option, and to study its effectiveness when applied to a three‐dimensional robotic manipulator model. The analysis i...

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Bibliographic Details
Published in:IET control theory & applications 2024-10, Vol.18 (15), p.1877-1891
Main Authors: Fekik, Arezki, Khati, Hocine, Azar, Ahmad Taher, Hamida, Mohamed Lamine, Denoun, Hakim, Hameed, Ibrahim A., Kamal, Nashwa Ahmad
Format: Article
Language:English
Subjects:
nonlinear control systems
robots
stability
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Summary:The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in‐the‐loop option, and to study its effectiveness when applied to a three‐dimensional robotic manipulator model. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model, through the development of a dynamic simulation model. The results of practical implementation using the FPGA in the loop technique demonstrate the effectiveness of the proposed method using the Xilinx Zedboard Zynq FPGA, which provides a useful insight into the benefits of using backstepping control laws in robotics applications. Implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in‐the‐loop option. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model.
ISSN:1751-8644
1751-8652
DOI:10.1049/cth2.12589