Title: FPGA-based performance evaluation of backstepping control and computed torque control for industrial robots

Authors: Arezki Fekik; Hocine Khati; Ahmad Taher Azar; Mohamed Lamine Hamida; Hakim Denoun; Nashwa Ahmad Kamal

Addresses: Department of Electrical Engineering, University Akli Mohand Oulhadj-Bouria, Rue Drissi Yahia, Bouira – 10000, Algeria; Nantes Université, École Centrale Nantes, CNRS, LS2N, UMR 6004, F-44000 Nantes, France ' Design and Drive of Production Systems Laboratory, Department of Automation, Faculty of Electrical and Computing Engineering, University Mouloud Mammeri of Tizi-Ouzou, Tizi-Ouzou, Algeria ' College of Computer and Information Sciences, Prince Sultan University, Riyadh, 11586, Saudi Arabia; Automated Systems and Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh, Saudi Arabia; Faculty of Computers and Artificial Intelligence, Benha University, Benha, 13518, Egypt ' Electrical Engineering Advanced Technology Laboratory (LATAGE), Tizi-Ouzou, Algeria ' Electrical Engineering Advanced Technology Laboratory (LATAGE), Tizi-Ouzou, Algeria ' Faculty of Engineering, Cairo University, Giza, 12613, Egypt

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.

Keywords: field-programmable gate array; FPGA; backstepping control; computed torque control; CTC; Zed board Zynq; PUMA 560.

DOI: 10.1504/IJAAC.2025.143001

International Journal of Automation and Control, 2025 Vol.19 No.1, pp.101 - 132

Received: 29 Dec 2023
Accepted: 08 Feb 2024
Published online: 02 Dec 2024 *

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