文献类型：期刊文献

英文题名：VAST: Architecture for Low-Cost Rapid Control Prototyping Systems

作者：Luo, Qi[1]; Qian, Zhiqin[1]; Wang, Chen[1]; Zeng, Liding[1]; Jiang, Xuejiao[1]; Xu, Lvqi[1]; Liu, Wei[1]; Peng, Chen[1]

机构：[1] Department of Mechancial and Power Engineering, East China University of Science and Technology, Shanghai, China

年份：2025

起止页码：203

外文期刊名：2025 11th International Conference on Electrical Engineering, Control and Robotics, EECR 2025

收录：EI(收录号：20253218951211)

语种：英文

外文关键词：Cost effectiveness - Degrees of freedom (mechanics) - Network architecture - Open source software - Open systems - Parallel architectures - Robotics - Software design - Software prototyping - Software testing

摘要：This paper proposes an architecture named VAST for constructing low-cost rapid control prototyping (RCP) systems. With the cross-language code generation capability of the large language model (LLM), VAST significantly reduces the hardware cost and software development complexity of the RCP systems while maintaining adaptability to general control algorithm testing tasks. Under this architecture, researchers conducting control algorithm validation experiments can build customized RCP systems for their specific testing task in a shorter time and at a lower cost. In this paper, a specific RCP system under VAST architecture is constructed using an STM32 microcontroller along with the LLM and the open-source signal visualization software VOFA+. The proposed architecture is validated through a trajectory tracking control experiment on a controller based on a radial basis function neural network (RBFNN) which is applied to a two-degree-of-freedom (DOF) planar five-bar parallel robot. Experimental results confirm the effectiveness of the VAST architecture in facilitating efficient and cost-effective control experiment validation. ? 2025 IEEE.