Accelerating the Performance of Fuzzy-FPGA Based Control in LabVIEW for Trajectory Tracking Problems

摘要

Fuzzy Logic (FL) is well-known as an intuitive framework to tackle imprecision and uncertainty while allowing to model expert's knowledge in rule-based control. The objective of this study is to investigate the design of embedded fuzzy control systems combining fast execution and parallel processing capabilities provided by Field Programmable Gate Arrays (FPGAs) and Reconfigurable Inputs/Outputs (RIO) boards. We implemented a suitable fixed-point FL to realize a computationally efficient control framework on an FPGA target. As such, the paper provides a concise method to deploy Fuzzy Logic Control (FLC) using RIO-FPGA technology. We also provide a technique for implementing the three stages that constitute the FLC structures in LabVIEW environment using fixed math operations. The experimental work involves tracking the trajectory of a mobile robot and shows the feasibility and the efficiency of the proposed FLC-FPGA controller in comparison to the traditional PID-FPGA controller, along with the added benefits of fuzzy control frameworks.