Design of FPGA-based Sliding Mode Controller for Robot Manipulator.

Abstract

One of the most active research areas in the field of robotics is robot manipulators control,
\nbecause these systems are multi-input multi-output (MIMO), nonlinear, and uncertainty. At
\npresent, robot manipulators is used in unknown and unstructured situation and caused to
\nprovide complicated systems, consequently strong mathematical tools are used in new control
\nmethodologies to design nonlinear robust controller with satisfactory performance (e.g.,
\nminimum error, good trajectory, disturbance rejection). Robotic systems controlling is vital due
\nto the wide range of application. Obviously stability and robustness are the most minimum
\nrequirements in control systems; even though the proof of stability and robustness is more
\nimportant especially in the case of nonlinear systems. One of the best nonlinear robust
\ncontrollers which can be used in uncertainty nonlinear systems is sliding mode controller
\n(SMC). Chattering phenomenon is the most important challenge in this controller. Most of
\nnonlinear controllers need real time mobility operation; one of the most important devices which
\ncan be used to solve this challenge is Field Programmable Gate Array (FPGA). FPGA can be
\nused to design a controller in a single chip Integrated Circuit (IC). In this research the SMC is
\ndesigned using VHDL language for implementation on FPGA device (XA3S1600E-Spartan-3E),
\nwith minimum chattering and high processing speed (63.29 MHz).