Title :
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
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;
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
DOI :
10.1109/CEC.2008.4631337
