Proposal of Takagi-Sugeno Fuzzy-PI Controller Hardware.

Sérgio N. Silva,Marcelo A. C. Fernandes,Felipe F. Lopes,Carlos Valderrama

doi:10.3390/s20071996

Sérgio N. Silva, Marcelo A. C. Fernandes + Show 2 more

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https://doi.org/10.3390/s20071996

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Abstract

This work proposes dedicated hardware for an intelligent control system on Field Programmable Gate Array (FPGA). The intelligent system is represented as Takagi–Sugeno Fuzzy-PI controller. The implementation uses a fully parallel strategy associated with a hybrid bit format scheme (fixed-point and floating-point). Two hardware designs are proposed; the first one uses a single clock cycle processing architecture, and the other uses a pipeline scheme. The bit accuracy was tested by simulation with a nonlinear control system of a robotic manipulator. The area, throughput, and dynamic power consumption of the implemented hardware are used to validate and compare the results of this proposal. The results achieved allow the use of the proposed hardware in applications with high-throughput, low-power and ultra-low-latency requirements such as teleoperation of robot manipulators, tactile internet, or industry 4.0 automation, among others.

Highlights

Systems based on Fuzzy Logic (FL), have been used in many industrial and commercial applications such as robotics, automation, control, and classification problems
The separate synthesis of the TS-FIM Module (TS-FIMM) allows for analysis of the Fuzzy inference algorithm core in the complete hardware proposal
In order to validate the results of the Fuzzy-PI controller in hardware, bit-precision simulation tests were performed with a nonlinear dynamic system characterized by a robotic manipulator system called the Phantom Omni [47,48,49,50]

Summary

Introduction

Systems based on Fuzzy Logic (FL), have been used in many industrial and commercial applications such as robotics, automation, control, and classification problems. Intelligent systems based on production rules that use Fuzzy Logic in the inference process are called in the literature Fuzzy Systems (FS) [4]. The interest in the development of dedicated hardware implementing Fuzzy Systems has increased due to the demand for high-throughput, low-power, and ultra-low-latency control systems for emerging applications such as the tactile Internet [21,22], the Internet of Things (IoT), and Industry 4.0, where the problems associated with processing, power, latency, and miniaturization are fundamental. Robotic manipulators used on the tactile internet need a high-throughput and ultra-low-latency control system, and this can be achieved with dedicated hardware [21]

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Results

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