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Embedded Kalman Filter Design Using FPGA for Estimating Acceleration of a Time-Delayed Controller for a Robot Arm

로봇 팔의 시간지연제어기의 가속도 평가를 위한 Kalman 필터의 FPGA 임베디드 설계

  • 전효원 (충남대학교 BK21 메카트로닉스 그룹) ;
  • 정슬 (충남대학교 BK21 메카트로닉스 그룹)
  • Published : 2009.02.01

Abstract

In this paper, an embedded Kalman filter for a time-delayed controller is designed on an FPGA to estimate accelerations of the robot arm. When the time-delayed controller is used as a controller, the inertia estimation along with accelerations is needed to form the control law. Although the time-delayed controller is known to be robust to cancel out uncertainties in the nonlinear systems, performances are very much dependent upon estimating the acceleration term ${\ddot{q}}(t-{\lambda})$ along with inertia estimation ${\hat{D}}(t-{\lambda})$. Estimating accelerations using the finite difference method is quite simple, but the accuracy of estimation is poor specially when the robot moves slowly. To estimate accelerations more accurately, various filters such as the least square fit filter and the Kalman filter are introduced and implemented on an FPGA chip. Experimental studies of following the desired trajectory are conducted to show the performance of the controller. Performances of different filters are investigated experimentally and compared.

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Cited by

  1. Experimental Studies of Attitude Control of a Quad-rotor System using a Time-delayed Controller vol.20, pp.4, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1945
  2. Altitude Control of a Quad-rotor System by Using a Time-delayed Control Method vol.20, pp.7, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1947