FPGA-based performance evaluation of backstepping control and computed torque control for industrial robots
by Arezki Fekik; Hocine Khati; Ahmad Taher Azar; Mohamed Lamine Hamida; Hakim Denoun; Nashwa Ahmad Kamal
International Journal of Automation and Control (IJAAC), Vol. 19, No. 1, 2025

Abstract: In this paper, a comparative study is conducted on two nonlinear control techniques: state feedback control through backstepping and computed torque control. The study focuses on their application to the industrial robot PUMA 560. The primary goal is to assess the trajectory tracking accuracy and speed achieved by these methods. To achieve this objective, both control techniques are employed on the Zed board Zynq FPGA platform, encompassing both simulation and hardware systems. Subsequently, the experimental results are thoroughly analysed and compared, aiming to accentuate the unique advantages and constraints associated with each method.

Online publication date: Mon, 02-Dec-2024

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