Download - Fpga implementation of sliding mode-control algorithm for scaled bilateral teleoperation

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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.