Backstepping based Trajectory Tracking Control of a Class of Reconfigurable Mobile Robot

Sehgal, Karan; Upadhyaya, Shreyansh; Keshav,; Verma, Manik; Rayguru, Madan Mohan

doi:10.1109/icac3n53548.2021.9725399

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Cited by 2 publications

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FPGA in the loop implementation of the PUMA 560 robot based on backstepping control

Fekik,

Khati,

Azar

et al. 2023

IET Control Theory & Appl

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The objective of this article is to present the implementation of a backstepping control regulator on a Xilinx Zedboard Zynq FPGA using the HDL Coder tool through the FPGA in‐the‐loop option, and to study its effectiveness when applied to a three‐dimensional robotic manipulator model. The analysis is based on the application of the backstepping control law for the three degrees of freedom PUMA 560 model, through the development of a dynamic simulation model. The results of practical implementation using the FPGA in the loop technique demonstrate the effectiveness of the proposed method using the Xilinx Zedboard Zynq FPGA, which provides a useful insight into the benefits of using backstepping control laws in robotics applications.

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