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FPGA to study the behavior of a maneuvering UGV...
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FPGA to study the behavior of a maneuvering UGV using sliding innovation filter

Abstract

Field programmable gate arrays (FPGAs) are increasingly popular due to their customizability, which enables them to be tailored to specific applications, resulting in minimal resource usage that saves energy and space. In this work, we used an FPGA with a Z-board from Xilinx to simulate the application of the sliding innovation filter (SIF) to a robotic arm. SIF is a predictor-corrector filter used for both linear and nonlinear systems to estimate states and/or parameters. It shares similar principles with sliding mode observer and smooth variable structure filter (SVSF) and uses a correction gain derived to satisfy Lyapunov stability, keeping the estimates near the measurements. We tested SIF on a manipulator with two joints (rotational and prismatic), using FPGA to run the simulation while tracking resource utilization. We compared the results with those of SVSF.

Authors

AlShabi M; Bonny T; Gadsden SA

Volume

12547

Publisher

SPIE, the international society for optics and photonics

Publication Date

June 14, 2023

DOI

10.1117/12.2664149

Name of conference

Signal Processing, Sensor/Information Fusion, and Target Recognition XXXII

Conference proceedings

Proceedings of SPIE--the International Society for Optical Engineering

ISSN

0277-786X
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