Title :
Controller design of the locomotion system for an autonomous cleaning system
Author :
Jarrah, M.A. ; Al-Khedher, M.
Author_Institution :
Master of Sci. in Mechatronics Eng. Program, American Univ. of Sharjah, United Arab Emirates
Abstract :
This paper presents the design and implementation of autonomous cleaning system algorithm for Dubai International Airport. Different approaches were presented to build the locomotion platform for an autonomous cleaning system cleaning. Two types of controllers were discussed to achieve the design objectives: conventional gain scheduled PID controller, and fuzzy PID controller. Tests have been conducted for the PID fuzzy controller in the preliminary design analysis.
Keywords :
cleaning; control system synthesis; fuzzy control; mobile robots; service robots; three-term control; Dubai International Airport; autonomous cleaning system; fuzzy PID control; gain scheduled PID control; locomotion system; Airports; Algorithm design and analysis; Buildings; Control systems; Fuzzy control; Humans; Rail transportation; Robots; Surface cleaning; Three-term control;
Conference_Titel :
Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on
Print_ISBN :
0-7803-8599-3
DOI :
10.1109/ICMECH.2004.1364438
