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. |
