Title :
Modeling and control design of an AGV
Author_Institution :
Unmanned Syst. Programme, DSO Nat. Labs., Singapore, Singapore
Abstract :
The modeling and control design of an automated ground vehicle (AGV) for transporting cargo containers is presented. As the AGV dynamics has uncertainties, H∞ loop-shaping synthesis is used for lateral dynamics control design. Design considerations and implementation are also presented.
Keywords :
H∞ control; automatic guided vehicles; control system synthesis; materials handling; mobile robots; nonlinear control systems; position control; programmable controllers; robot dynamics; AGV; H∞ loop-shaping synthesis; automated ground vehicle; cargo containers; lateral dynamics control design; port area; Containers; Control design; Laboratories; Land vehicles; Programmable control; Tires; Uncertainty; Vehicle driving; Vehicle dynamics; Wheels;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184623
