(UM)
  • 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.
    Vir: IEEE transactions on industrial informatics. - ISSN 1551-3203 (Vol. 9, iss. 3, Avg. 2013, str. 1291-1300)
    Vrsta gradiva - članek, sestavni del
    Leto - 2013
    Jezik - angleški
    COBISS.SI-ID - 16563990
    DOI

vir: IEEE transactions on industrial informatics. - ISSN 1551-3203 (Vol. 9, iss. 3, Avg. 2013, str. 1291-1300)

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