Title :
Digital control of an autonomous guided vehicle
Author :
Quevedo, J. ; Garrido, E. ; Rodriguez, F. ; Hernandez, J.C. ; Cuguero, J. ; Morcego, B.
Author_Institution :
Dept. of Autom. Control, Univ. Politecnica de Catalunya, Barcelona, Spain
Abstract :
The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers
Keywords :
automatic guided vehicles; digital control; digital filters; fuzzy control; servomechanisms; three-term control; CERTAP; PID controller; PID position control; autonomous guided vehicle; control action; conventional digital filter; digital control design; four wheeled vehicle; fuzzy controller; independent movements; servo-amplifiers; torque set-points; Digital control; Digital filters; Fuzzy control; Fuzzy sets; Manufacturing; Mobile robots; Remotely operated vehicles; Three-term control; Torque control; Wheels;
Conference_Titel :
Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-5670-5
DOI :
10.1109/ETFA.1999.813164
