Fpga implementation of sliding mode-control algorithm for scaled bilateral teleoperation
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ECWAY TECHNOLOGIES IEEE PROJECTS & SOFTWARE DEVELOPMENTS OUR OFFICES @ CHENNAI / TRICHY / KARUR / ERODE / MADURAI / SALEM / COIMBATORE BANGALORE / HYDRABAD CELL: +91 98949 17187, +91 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 / 8111 VISIT: www.ecwaytechnologies.com | www.ecwayprojects.com Mail to: [email protected] | [email protected] FPGA Implementation of Sliding-Mode-Control Algorithm for Scaled Bilateral Teleoperation Abstract This paper proposes an FPGA-based sliding-mode controller for scaled bilateral teleoperation. The control algorithm is derived by using the sliding-mode-control-based design approach. The applied design procedure replaces a discontinuous control with a continuous one. Thus, it guarantees chattering-free performance whilst retaining practical robustness regarding disturbances and provides easy model-free implementation. A high control rate is strongly required in order to achieve high-performance scaled bilateral teleoperation. Hence, the control algorithm is implemented by the FPGA. In order to design a sufficient logic circuit for the FPGA, general optimization approaches are presented that aim to minimize hardware resources and to optimize the control rate. The design applies high-level programming language (LabVIEW) for rapid prototyping. The presented algorithms were validated by the 2-DoF laboratory bilateral teleoperation system. Index Terms—Bilateral teleoperation, field-programmable gate array (FPGA), haptics, sliding mode control. Block scheme of the SMC algorithm for scaled bilateral teleoperation.
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Transcript of Fpga implementation of sliding mode-control algorithm for scaled bilateral teleoperation
ECWAY TECHNOLOGIESIEEE PROJECTS & SOFTWARE DEVELOPMENTS
OUR OFFICES @ CHENNAI / TRICHY / KARUR / ERODE / MADURAI / SALEM / COIMBATORE BANGALORE / HYDRABAD
CELL: +91 98949 17187, +91 875487 1111 / 2111 / 3111 / 4111 / 5111 / 6111 / 8111VISIT: www.ecwaytechnologies.com | www.ecwayprojects.com
Mail to: [email protected] | [email protected]
FPGA Implementation of Sliding-Mode-ControlAlgorithm for Scaled Bilateral Teleoperation
AbstractThis paper proposes an FPGA-based sliding-mode controller for
scaled bilateral teleoperation. The control algorithm is derived by using the sliding-mode-control-based design approach. The applied design procedure replaces a discontinuous control with a continuous one. Thus, it guarantees chattering-free performance whilst retaining practical robustness regarding disturbances and provides easy model-free implementation. A high control rate is strongly required in order to achieve high-performance scaled bilateral teleoperation. Hence, the control algorithm is implemented by the FPGA. In order to design a sufficient logic circuit for the FPGA, general optimization approaches are presented that aim to minimize hardware resources and to optimize the control rate. The design applies high-level programming language (LabVIEW) for rapid prototyping. The presented algorithms were validated by the 2-DoF laboratory bilateral teleoperation system. Index Terms—Bilateral teleoperation, field-programmable gate array (FPGA), haptics, sliding mode control.
Block scheme of the SMC algorithm for scaled bilateral teleoperation.
