Intelligent variable structure control for Automated Guided Vehicle

Author

Jiao, Jun ; Chen, Wu-wei ; Leung, Kwong-Sak ; Li, Shao-wen ; Wang, Ji-xian ; Cheung, William K C ; Lin, Marie C.

Author_Institution

Inf. & Comput. Sch., Hefei Univ. of Technol., Hefei

fYear

2008

fDate

1-6 June 2008

Firstpage

3968

Lastpage

3973

Abstract

Aiming at Automated Guided Vehicle (AGV) dynamic model characteristics, a Variable Structure Control based on genetic algorithm (GA) and least square-support vector machine (LS-SVM) was designed. Parameters, predetermined by conventional reaching law, were regulated by LS-SVM online. It was shown that system shattering is eliminated. Simulation results indicated that this method possesses the advantages of higher precision, greater adaptability and robustness, as compared to the conventional Variable Structure Control methods.

Keywords

automatic guided vehicles; genetic algorithms; intelligent control; least squares approximations; mobile robots; support vector machines; variable structure systems; automated guided vehicle; genetic algorithm; intelligent variable structure control; least square-support vector machine; system shattering; Automatic control; Automotive engineering; Fuzzy control; Intelligent control; Intelligent structures; Intelligent vehicles; Kinematics; Robust control; Target tracking; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation, 2008. CEC 2008. (IEEE World Congress on Computational Intelligence). IEEE Congress on

Conference_Location

Hong Kong

Print_ISBN

978-1-4244-1822-0

Electronic_ISBN

978-1-4244-1823-7

Type

conf

DOI

10.1109/CEC.2008.4631337

Filename

4631337