Robust control of magnetic guidance lightweight AGVs path tracking using randomization methods

Author

Madaschi, M.G. ; Gryazina, E. ; Cologni, A.L. ; Spelta, Cristiano ; Previdi, F. ; Savaresi, Sergio M. ; Pesenti, I.

Author_Institution

Dipt. di Ing., Univ. di Bergamo Dalmine, Bergamo, Italy

fYear

2013

fDate

17-19 July 2013

Firstpage

262

Lastpage

267

Abstract

In this paper, a state space dynamical model for the differential drive path tracking system of an AGV (Automated Guided Vehicle) is developed. In order to guarantee desirable control specifications for a wide range of possible masses (50 <; M <; 1000kg), the payload mass is considered as uncertainty in the model. Robust stability domain in the controller parameter space via randomization technique is analysed. Two sets of controller parameters are selected and experimentally tested on a commercial vehicle, showing performances in agreement with the analysis.

Keywords

mobile robots; path planning; robust control; automated guided vehicle; control specifications; controller parameter space; differential drive path tracking system; magnetic guidance lightweight AGVs path tracking; randomization methods; randomization technique; robust control; robust stability domain; state space dynamical model; Aerospace electronics; Friction; Robust stability; Stability analysis; Transient analysis; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2013 European

Conference_Location

Zurich

Type

conf

Filename

6669632