Embedded Fuzzy Control of a Teleoperation System on Zedboard Zynq-7000 SoC Board

This paper presents Fuzzy Logic Control (FLC) embedded in a force position teleoperation system. The aim is to design two Takagi-Sugeno fuzzy controllers (position and force) to control the position of the slave and the force feedback of the master. Fuzzy logic, which is a model-free approach, is used to overcome the difficulties encountered in conventional control methods because the master and slave systems are complex and difficult to control. Fuzzy controllers are designed so that the slave system follows the movements of the master system, while the force exerted on the slave by the environment is fed back to the master. The two controllers are then implemented in PIL (Processor In-the-Loop) execution mode via Simulink on an ARM architecture development board (Zedboard) linked to a Zynq-7000 SoC programmable logic. The proposed control strategy was designed in MATLAB’s Simulink environment and then implemented on the Zedboard, based on a Zynq-7000 FPGA and a dual ARM Cortex A-9 processor, in order to evaluate the behaviour of the controllers in PIL mode before their application on the real system. The results obtained were compared with those obtained using PID controllers and showed good tracking and stability performance, highlighting the effectiveness of the control method adopted.