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FPGA implementation of sliding mode control algorithm for scaled bilateral teleoperation
Hace, Aleš ; Franc, Marko
This paper proposes a 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 rateis 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.
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