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Robot Intelligence Technology and Applications 4 pp 141–152Cite as

Design and FPGA Implementation of a Fuzzy-PI Controller for Omnidirectional Robot System

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 447))

Abstract

Fuzzy logic systems have been implemented successfully for the design of a wide variety of control systems. They provide a powerful way for designing nonlinear controllers using human expert knowledge. In this article, we present an approach to design and implement a fuzzy logic proportional integral controller (Fuzzy-PI) for omnidirectional robot navigation system, using a field-programmable gate array (FPGA). First, we define the kinematic model of the robot system and then we design, simulate, and optimize the controller navigation system using MATLAB and Robotino Sim platforms. The main goal of this work is the design of the Fuzzy-PI controller and the hardware implementation using FPGA resources. The controller can be implemented on an FPGA using software or hardware approach. For the latter approach, the Fuzzy-PI algorithm is implemented in VHDL language, synthesized, optimized, placed and routed, and downloaded on an FPGA board.

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Author information

Authors and Affiliations

  1. METS Research Group-National School of Electronic and Communications of Sfax, Technopark, BP 1163, CP 3018, Sfax, Tunisia

    Mohamed Slim Masmoudi

  2. CEM Lab-National Engineers School of Sfax, BP 3000, Sfax, Tunisia

    Najla Krichen

  3. Centre for Pattern Analysis and Machine Intelligence, University of Waterloo, Waterloo, ON, Canada

    Arief B. Koesdwiady & Fakhri Karray

  4. METS Research Group-National Engineers School of Sfax, Tunisia Route Soukra, Km 3.5, BP 1173, 3038, Sfax, Tunisia

    Mohamed Masmoudi

Authors
  1. Mohamed Slim Masmoudi
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  2. Najla Krichen
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  3. Arief B. Koesdwiady
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  4. Fakhri Karray
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  5. Mohamed Masmoudi
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Corresponding author

Correspondence to Arief B. Koesdwiady .

Editor information

Editors and Affiliations

  1. Electrical Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Queensland, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Hyun Myung

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Masmoudi, M.S., Krichen, N., Koesdwiady, A.B., Karray, F., Masmoudi, M. (2017). Design and FPGA Implementation of a Fuzzy-PI Controller for Omnidirectional Robot System. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_12

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  • DOI: https://doi.org/10.1007/978-3-319-31293-4_12

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31291-0

  • Online ISBN: 978-3-319-31293-4

  • eBook Packages: EngineeringEngineering (R0)

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