International Journal of Research in Advanced Electronics Engineering
2025, Vol. 6, Issue 2, Part A
FPGA implementation of a PID and fuzzy hybrid controller for robotic arm stabilization
Author(s): Haruto Tanaka and Yumi Kobayashi
Abstract: This research presents the design and implementation of a hybrid Proportional-Integral-Derivative (PID) and Fuzzy Logic Controller (FLC) for robotic arm stabilization using a Field-Programmable Gate Array (FPGA) platform. The study aims to overcome the limitations of conventional PID controllers in managing nonlinear dynamics, time-varying loads, and external disturbances by integrating fuzzy logic’s adaptive reasoning within the PID framework. The hybrid controller was modeled and simulated using MATLAB/Simulink and subsequently implemented on a Xilinx Spartan-6 FPGA using VHDL. Comparative analyses were conducted against standalone PID and fuzzy controllers under both nominal and disturbed operating conditions. Experimental findings demonstrated that the hybrid controller significantly reduced settling time, overshoot, and steady-state error while enhancing overall system stability and disturbance rejection. The FPGA implementation provided superior real-time performance due to parallel processing capabilities and deterministic timing behavior. Statistical evaluation, including effect size analysis, confirmed the robustness and consistency of the hybrid system. Resource utilization analysis indicated that the hybrid design efficiently balances performance with moderate FPGA logic and DSP consumption. The study validates that embedding adaptive hybrid control strategies directly in FPGA hardware yields substantial improvements in speed, reliability, and precision for robotic applications. This work contributes a scalable and efficient control framework suitable for industrial automation, robotic manipulators, and advanced mechatronic systems, highlighting the practical potential of hardware-based hybrid control architectures in achieving high-precision dynamic stabilization.
Pages: 33-37 | Views: 12 | Downloads: 8
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How to cite this article:
Haruto Tanaka, Yumi Kobayashi. FPGA implementation of a PID and fuzzy hybrid controller for robotic arm stabilization. Int J Res Adv Electron Eng 2025;6(2):33-37.
