FPGA-Based Time-Multiplexed PI Controller for Multi-Motor Robot — Real-Time Demo
This video demonstrates the real-time operation of a four-wheeled mobile robot controlled by an FPGA-based time-multiplexed PI controller.
The FPGA (Xilinx Spartan-3) executes a single PI core that is shared among four DC motors, reducing hardware resource usage while maintaining precise control.
During the experiment, the robot is connected to a PC where the reference and actual motor speeds are plotted in real time. Two different reference profiles are applied to all four motors:
Triangular trajectory: the motors accelerate and decelerate following a symmetric triangular profile.
Step input: the motors quickly respond to a sudden change in reference speed.
The results confirm that the time-multiplexed PI controller enables accurate tracking of the reference profiles, validating both the simulation and hardware analysis presented in the paper.
🔗 Source code and project details are available at:
http://github.com/kiamnasri/Time-Mult...