FPGA Implementation of an Embedded Robust Adaptive Controller for Autonomous Omnidirectional Mobile Platform

@article{Huang2009FPGAIO,
  title={FPGA Implementation of an Embedded Robust Adaptive Controller for Autonomous Omnidirectional Mobile Platform},
  author={Hsu-Chih Huang and Ching-Chih Tsai},
  journal={IEEE Transactions on Industrial Electronics},
  year={2009},
  volume={56},
  pages={1604-1616}
}
This paper presents an embedded adaptive robust controller for trajectory tracking and stabilization of an omnidirectional mobile platform with parameter variations and uncertainties caused by friction and slip. Based on a dynamic model of the platform, the adaptive controller to achieve point stabilization, trajectory tracking, and path following is synthesized via the adaptive backstepping approach. This robust adaptive controller is then implemented into a high-performance field-programmable… CONTINUE READING

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