Title :
Robust flatness-based control of an AGV under varying load and friction conditions
Author :
Villagra, J. ; Herrero-Pérez, D. ; Abderrahim, M.
Author_Institution :
Dept. of Syst. Eng. & Autom., Univ. Carlos III of Madrid, Leganes, Spain
Abstract :
This paper presents the control strategy adopted to ensure low jerk variations in path tracking operations of automated guided vehicles (AGVs) in industrial environments. The system is focused on robustness, performance and ease configuration of the maneuvers. Robustness is improved by combining algebraic techniques for robust intelligent feedback control with differential flatness. Besides, it is easily configurable by the definition of a velocity profile decoupled of geometric path. Some simulated results show the dramatic improvement with respect to more standard flatness-based controllers.
Keywords :
algebra; feedback; geometry; industrial robots; intelligent control; mobile robots; path planning; robust control; vehicles; algebraic techniques; automated guided vehicles; control strategy; differential flatness; geometric path; industrial environments; path tracking operations; robust flatness-based control; robust intelligent feedback control; Automatic control; Automation; Electrical equipment industry; Friction; Navigation; Robust control; Robustness; Sliding mode control; Vehicles; Wire;
Conference_Titel :
Control and Automation, 2009. ICCA 2009. IEEE International Conference on
Conference_Location :
Christchurch
Print_ISBN :
978-1-4244-4706-0
Electronic_ISBN :
978-1-4244-4707-7
DOI :
10.1109/ICCA.2009.5410339
