DocumentCode :
3303365
Title :
Kalman Filter-based compensation of disturbance forces and torques for AGVs
Author :
Rigatos, Gerasimos ; Siano, Pierluigi ; Ingenito, Giovanni
Author_Institution :
Unit of Ind. Autom., Ind. Syst. Inst., Rion Patras, Greece
fYear :
2013
fDate :
15-17 July 2013
Firstpage :
150
Lastpage :
155
Abstract :
Controller design for autonomous 4-wheeled ground vehicles is performed with differential flatness theory. Using a 3-DOF nonlinear model of the vehicle´s dynamics and through the application of differential flatness theory an equivalent model in linear canonical (Brunovksy) form is obtained. The processing of velocity measurements (provided by a small number of on-board sensors) through a Kalman Filter which has been redesigned in the form of a disturbance observer results in accurate identification of external disturbances affecting the vehicle´s dynamic model. By including in the vehicle´s controller an additional term that compensates for the estimated disturbance forces, the vehicle´s motion characteristics remain unchanged.
Keywords :
Kalman filters; automatic guided vehicles; compensation; control system synthesis; force control; mobile robots; nonlinear control systems; observers; torque control; vehicle dynamics; velocity measurement; AGV; DOF nonlinear model; Kalman filter-based compensation; autonomous 4-wheeled ground vehicle; differential flatness theory; disturbance force compensation; disturbance observer; equivalent model; linear canonical form; torque compensation; vehicle controller design; vehicle dynamic model; velocity measurement; Force; Kalman filters; MIMO; Vectors; Vehicle dynamics; Vehicles; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA), 2013 IEEE International Conference on
Conference_Location :
Milan
Print_ISBN :
978-1-4673-4701-3
Type :
conf
DOI :
10.1109/CIVEMSA.2013.6617412
Filename :
6617412
Link To Document :
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