A Real-Time Implementation of an Autonomous UAV Controller Using FPGA: Based on Fuzzy Logic Approach
Farid Alidoust Aghdam (University of Tabriz, Iran); Ali Rostami (Tabriz University, Iran); Siamak Haghipour (Tabriz Branch, Islamic Azad University, Iran)
Controlling numerous actuators and sensors of a UAV simultaneously, is slightly challenging. Also, in nonlinear systems, which there are plenty of parameters to be identified and controlled, the fuzzy controllers, will permit more robust control than classic controllers and give stable outputs when exposed to high deviations in the input parameters. Therefore, we used FPGA to solve this issue. This work shows the design methodology of a UAV controller using FPGA which execute fuzzy logic. Appropriate UAV's position, speed and altitude parameters control are essential parts of this study. The proposed fuzzy controller offers performance of 2GFLIPS with 125 MHz FPGA clock. However, with respect to the low usage of the resources on the FPGA, parallel pipelined design of the FLC and the fact that HDL code could be instantiated in parallel, upper calculation power up to about 8GFLIPS is reachable.
Journal: International Journal of Simulation- Systems, Science and Technology- IJSSST V14
Published: Feb 28, 2013