Title :
Bounded control strategies for minimizing the effects of the communications network on the lateral control of an AGV
Author :
Tejado, Inés ; Vinagre, Blas M. ; Suárez, José I. ; De Pedro, Teresa
Author_Institution :
Ind. Eng. Sch., Univ. of Extremadura, Badajoz
Abstract :
The performance of a networked control system (NCS) is affected directly and indirectly by transmission time delays and data losses in the communications network. Based on the communications network model, this paper presents two different control strategies and the study of network effects on the lateral (guidance) control of an autonomous guided vehicle (AGV) in the presence of sensor noise: bounded PD control and fuzzy control. Simulation results are presented to validate the results of the proposed strategies.
Keywords :
PD control; control engineering computing; delays; fuzzy control; remotely operated vehicles; autonomous guided vehicle; bounded PD control; communication network; fuzzy control; lateral control; networked control system; transmission time delays; Communication networks; Communication system control; Delay effects; Mobile robots; Navigation; Networked control systems; PD control; Performance loss; Propagation losses; Remotely operated vehicles; Actuator saturation; PD controller; bounded control; fuzzy controller; information losses; lateral control; networked control system; transmission delays;
Conference_Titel :
Electrotechnical Conference, 2008. MELECON 2008. The 14th IEEE Mediterranean
Conference_Location :
Ajaccio
Print_ISBN :
978-1-4244-1632-5
Electronic_ISBN :
978-1-4244-1633-2
DOI :
10.1109/MELCON.2008.4618413
