CFP last date
20 December 2024
Call for Paper
January Edition
IJCA solicits high quality original research papers for the upcoming January edition of the journal. The last date of research paper submission is 20 December 2024

Submit your paper
Know more
The week's pick
Responsive image
Improved Shuffled Frog Leaping Algorithm with Self-Adaptive Shuffling for Fuzzy Logic PD+G Controller Optimization in Robotic Manipulators

Duc Hoang Nguyen
Random Articles
Reseach Article

Design and Implementation of Fuzzy PID Controller for Single Link Flexible Joint Robotic System using FPGA

by Eqbal Hussein Ali, Ekhlas Hameed Karam, Hussein Adheem Abbas
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 97 - Number 7
Year of Publication: 2014
Authors: Eqbal Hussein Ali, Ekhlas Hameed Karam, Hussein Adheem Abbas
10.5120/17020-7305

Eqbal Hussein Ali, Ekhlas Hameed Karam, Hussein Adheem Abbas . Design and Implementation of Fuzzy PID Controller for Single Link Flexible Joint Robotic System using FPGA. International Journal of Computer Applications. 97, 7 ( July 2014), 26-33. DOI=10.5120/17020-7305

@article{ 10.5120/17020-7305,
author = { Eqbal Hussein Ali, Ekhlas Hameed Karam, Hussein Adheem Abbas },
title = { Design and Implementation of Fuzzy PID Controller for Single Link Flexible Joint Robotic System using FPGA },
journal = { International Journal of Computer Applications },
issue_date = { July 2014 },
volume = { 97 },
number = { 7 },
month = { July },
year = { 2014 },
issn = { 0975-8887 },
pages = { 26-33 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume97/number7/17020-7305/ },
doi = { 10.5120/17020-7305 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T22:23:30.000783+05:30
%A Eqbal Hussein Ali
%A Ekhlas Hameed Karam
%A Hussein Adheem Abbas
%T Design and Implementation of Fuzzy PID Controller for Single Link Flexible Joint Robotic System using FPGA
%J International Journal of Computer Applications
%@ 0975-8887
%V 97
%N 7
%P 26-33
%D 2014
%I Foundation of Computer Science (FCS), NY, USA
Abstract

Designing a Fuzzy Proportional Integral Derivative (FPID) controller that can control single link flexible joint robotic system which is nonlinear and have a complex mathematical model, led to the need of finding a way that could be efficient to hardware implementation, using Field – Programmable Gate Array FPGA (small device size, cost effective, short time to market, Reliability and Long – Term Maintenance) could solve that issue. Fuzzy Logic Controller (FLC) system is a most promising area for industrial application and by combining it with PID control algorithms features; they offer a high speed process using simple rules with the accuracy of PID tuning methods. In this paper, we have demonstrated the implementation of FPID controller using Very high speed integrated circuits Hardware Description Language (VHDL) code in FPGA, we have used Mamdani type as a FLC structure. The controller algorithm have been developed, synthesized, simulated and implemented on FPGA Spartan6, XC6SLX150T, FGG676 board.

References
  1. Teranun T. , et al. , 2006. "Geno-fuzzy P2ID Control System for Flexible-joint Robot arm". Department of Information Engineering, Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang, Chalongkrung . Rd. , Ladkrabang, Bangkok, Thailand 10520.
  2. Ismail H. , et al. , 2012, "Cascade fuzzy logic control of a single-link flexible-joint manipulator". Department of Mechatronics Engineering, Faculty of Engineering, Kocaeli University, Umuttepe 41380, Kocaeli-TURKEY. Turk J Elec Eng & Comp Sci, Vol. 20, No. 5.
  3. Dan C. and Dale E. , 2002. "PI/PID Controller Design Based on Direct Synthesis and Disturbance Rejection", Department of Chemical Engineering, University of California, Santa Barbara, California 93106
  4. Nahida N. , 2013. "Simple Controller Approach with Smith Predictor for Long Time Delay Systems" Journal of Engineering and Development, Vol. 17,No. 2, ISSN1813, 7822
  5. Sekhar R. , 2010, MSc thesis of "Design & Development of a Pic 16f877a Based Fuzzy Temperature Controller " Department of Electronics & Tele-Communication Engineering, Jadavpur University, Kolkata-700032, West Bengal, India
  6. Katherine C. and Scott H. , 2000 "An Introduction to Reconfigurable Computing" Invited Paper, IEEE Computer.
  7. Karthigaikumar P. , 2006, "A Novel FPGA Architecture for a Reconfigurable ALU", Academic Open Internet Journal, ISSN 1311-4360, Volume 19
  8. Thompson M. , 2004, "FPGAs Accelerate Time to Market for Industrial Designs," EE Times.
  9. Ammar A. , 2012 "FPGA Based Modified Fuzzy PID Controller for Pitch Angle of Bench-top Helicopter" Iraq J. Electrical and Electronic Engineering, Vol. 8 No. 1.
  10. Akbari M. , et al. 2011 "Nonlinear H? controller for flexible joint robots with using feedback linearization" International Journal on Computer Science and Engineering (IJCSE), ISSN: 0975-3397, Vol. 3, No. 2.
  11. Farid M. and Benjamin C. , 2009 "Automatic Control Systems", 9th edition book, Vancouver, British Columbia, Canada, JOHN WILEY & SONS, INC.
  12. Adel M. , Jason G. , 2009, "Generalized Predictive Control for Single-Link Flexible Joint Robot"; international Journal of Sciences and Techniques of Automatic Control & Computer engineering, IJ-STA, pp. 890-899, Volume 3, No. 1.
  13. An-Chyau H. and Yuan-Chih C. , 2004, "Adaptive Sliding Control for Single-Link Flexible-Joint Robot with Mismatched Uncertainties"; IEEE Transactions on Control Systems Technology, Vol. 12, No. 5.
  14. Haider. A. , et al. , 1997," Fuzzy PID Control of a Flexible-Joint Robot Arm with Uncertainties from Time-Varying Loads"; IEEE Transactions on Control Systems Technology, Vol. 5, No. 3.
Index Terms

Computer Science
Information Sciences

Keywords

FPID SLFJRS VHDL Hardware Implementation in FPGA.

Powered by PhDFocusTM