DEVELOPMENT OF FPGA-BASED FRACTIONAL-ORDER PID CONTROLLER MODULE FOR AUTONOMOUS ROBOTS USING FOR THE APPLICATION INDUSTRY 4.0

Abstract

Fractional-order PID controller plays an important role in various industrial applications. The FOPID is the expansion of the conventional PID controller based on fractional calculus. PID controller regulates temperature, flow, pressure, speed, and other process variables in industrial control systems. Therefore, this research intends to design and implement the real-time FPGA-based FOPID controller, which is complex regarding memory issues and energy consumption. Thus, this research uses the hybridized technique of fixed- and floating-point approach using Matlab and Xilinx Vivado. The proposed design is realized on a Zynq-7000 FPGA board, and the performance is improved in terms of dynamic range, speed, unlimited use of resources, efficiency, and less energy consumption.