Title :
GPC strategies for the lateral control of a networked AGV
Author :
Romero, Miguel ; Tejado, Inés ; Suárez, Jose I. ; Vinagre, Bias M. ; De Madrid, Angel P.
Author_Institution :
Escuela Tec. Super. de Ing. Inf., UNED, Madrid
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 the validity of two different predictive control strategies and the study of the network effects on the lateral (guidance) control of an autonomous guided vehicle (AGV) in the presence of sensor noise. Simulation results are presented to validate the proposed strategies.
Keywords :
automatic guided vehicles; delays; distributed parameter systems; predictive control; autonomous guided vehicle; communications network model; data losses; generalized predictive control; lateral control; networked AGV; networked control system; sensor noise; transmission time delays; Communication networks; Communication system control; Delay effects; Navigation; Networked control systems; Performance loss; Predictive control; Predictive models; Propagation losses; Remotely operated vehicles; Networked control system; autonomous guided vehicle; fractional calculus; generalized predictive control; lateral control;
Conference_Titel :
Mechatronics, 2009. ICM 2009. IEEE International Conference on
Conference_Location :
Malaga
Print_ISBN :
978-1-4244-4194-5
Electronic_ISBN :
978-1-4244-4195-2
DOI :
10.1109/ICMECH.2009.4957115
