Page 230 - 2024-Vol20-Issue2

Received: 9 October 2023 | Revised: 3 December 2023 | Accepted: 21 December 2023

DOI: 10.37917/ijeee.20.2.19 Vol. 20 | Issue 2 | December 2024

Open Access

Iraqi Journal for Electrical and Electronic Engineering

Original Article

Design of Optimal STSMC Method Based on FPGA to

Track the Trajectory of 2-DOF Robot Manipulator

Atheel K. Abdul Zahra*, Wasan A. Wali
Computer Engineering Department, University of Basrah, Basrah, Iraq

Correspondance
*Atheel K. Abdul Zahra
Computer Engineering Department,
University of Basrah, Basrah, Iraq
Email: atheel.abdulzahraa@uobasrah.edu.iq

Abstract
This article emphasizes on a strategy to design a Super Twisting Sliding Mode Control (STSMC) method. The proposed
controller depends on the device of Field Programmable Gate Array (FPGA) for controlling the trajectory of robot
manipulator. The gains of the suggested controller are optimized using Chaotic Particle Swarm Optimization (PSO)
in MATLAB toolbox software and Simulink environment. Since the control systems speed has an influence on their
stability requirements and performance, (FPGA) device is taken in consideration. The proposed control method based
on FPGA is implemented using Xilinx block sets in the Simulink. Integrated Software Environment (ISE 14.7) and
System Generator are employed to create the file of Bitstream which can be downloaded in the device of FPGA. The
results show that the designed controller based of on the FPGA by using System Generator is completely verified the
effectiveness of controlling the path tracking of the manipulator and high speed. Simulation results explain that the
percentage improvement in the Means Square Error (MSEs) of using the STSMC based FPGA and tuned via Chaotic
PSO when compared with the same proposed controller tuned with classical PSO are 17.32 % and 13.98 % for two
different cases of trajectories respectively.

Keywords
DOF Robot Manipulator, Lyapunov Theorem, FPGA, STSMC, Chaotic PSO.

I. INTRODUCTION the real robotics, but it is important to perform the simulations
to real robots. Simulations are characterized with they are less
The robotics is a science which deals with many scopes expensive, easier to setup, faster and more proper to use. The
such as the design, the controlling as well as modeling of simulation of robots allows with better design by choosing
robot. Nowadays the robots may be utilized everywhere in the best and suitable values of parameters for the designed
the daily life, where they can be used in different life jobs and system.
industry. The utilization of robot is very wide, so, there are
many different types of robots such as rectangular, revolute, The accumulate and multiply are the most operations
spherical, horizontal jointed and cylindrical which used in which used in the control calculations. When any type of
manufacturing and industry. The robots may be used to supply digital controller is dealing with such operations, so, the com-
the desired motion in the processes of manufacturing like putational overhead will be reached to the maximum. The
drilling, painting, pick, cutting, milling and welding, etc. The speed and the sampling rate will be limited by the system rate
configuration of two link robot manipulator with 2 Degrees which performs such operations. The control system speed
of Freedom (2 - DoF) is generally well proper to insert and has influence on many matters like, its performance, robust-
assemble the small parts such as electronic components. In ness, stability, and the characteristics of disturbance rejection,
spite of the major goal is to manufacture, design and control so, the FPGAs represent the good choice.

This is an open-access article under the terms of the Creative Commons Attribution License,
which permits use, distribution, and reproduction in any medium, provided the original work is properly cited.
©2024 The Authors.
Published by Iraqi Journal for Electrical and Electronic Engineering | College of Engineering, University of Basrah.

https://doi.org/10.37917/ijeee.20.2.19 |https://www.ijeee.edu.iq 226