FPGA to study the behavior of a maneuvering UGV using sliding innovation filter

Mohammad AlShabi; Talal Bonny; S. Andrew Gadsden

doi:10.1117/12.2664149

14 June 2023 FPGA to study the behavior of a maneuvering UGV using sliding innovation filter

Mohammad AlShabi, Talal Bonny, S. Andrew Gadsden

Proceedings Volume 12547, Signal Processing, Sensor/Information Fusion, and Target Recognition XXXII; 1254713 (2023) https://doi.org/10.1117/12.2664149
Event: SPIE Defense + Commercial Sensing, 2023, Orlando, Florida, United States

Conference Poster

Abstract

Field programmable gate arrays (FPGAs) are increasingly popular due to their customizability, which enables them to be tailored to specific applications, resulting in minimal resource usage that saves energy and space. In this work, we used an FPGA with a Z-board from Xilinx to simulate the application of the sliding innovation filter (SIF) to a robotic arm. SIF is a predictor-corrector filter used for both linear and nonlinear systems to estimate states and/or parameters. It shares similar principles with sliding mode observer and smooth variable structure filter (SVSF) and uses a correction gain derived to satisfy Lyapunov stability, keeping the estimates near the measurements. We tested SIF on a manipulator with two joints (rotational and prismatic), using FPGA to run the simulation while tracking resource utilization. We compared the results with those of SVSF.

Citation Download Citation

Mohammad AlShabi, Talal Bonny, and S. Andrew Gadsden "FPGA to study the behavior of a maneuvering UGV using sliding innovation filter", Proc. SPIE 12547, Signal Processing, Sensor/Information Fusion, and Target Recognition XXXII, 1254713 (14 June 2023); https://doi.org/10.1117/12.2664149

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available