NDLI: Nonlinear steering control strategy for an optical stripe tracker

Content Provider	IEEE Xplore Digital Library
Author	Kelber, C.R. Sprenger Dreger, R. Schirmbeck, J. Borges, D.A.
Copyright Year	2002
Description	Author affiliation: Centro de Ciencias Exatas e Tecnologicas, Univ. do Vale do Rio dos Sinos-UNISINOS, Sao Leopoldo, Brazil (Kelber, C.R.; Sprenger Dreger, R.; Schirmbeck, J.; Borges, D.A.)
Abstract	To understand control system theory in a more interesting way theoretical principles must be implemented by the students in a laboratory prototype. As an example of such a prototype a low cost differential drive mobile robot was constructed with the objective to put together theory and praxis. Automated guided vehicles (AGVs) are widely used in factories and warehouses for material transportation. Most of them follow a stripe or wire path installed on the floor of the operating area. An optical stripe tracker can be easily assembled with low cost components and represents a very interesting system to be controlled by different linear and nonlinear control schemes. Following this idea students had to project and implement the steering control of a low cost AGV constructed by themselves using their knowledge from different disciplines. Interdisciplinary work and teamwork are also encouraged. The mathematical analysis of the system plant and the development of a nonlinear steering control strategy for this prototype are presented in this article. Simulation and experimental results are also included.
Sponsorship	IEEE Ind. Electron. Soc. Univ. Maribor Slovenia Ministr. Educ., Sci. & Sport Soc. Instrum. & Control Eng. (Japan) IEEE Region 8, Slovenia Sect
Starting Page	546
Ending Page	550
File Size	621299
Page Count	5
File Format	PDF
ISBN	0780374797
DOI	10.1109/AMC.2002.1026979
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-07-03
Publisher Place	Slovenia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optical control Nonlinear optics Control systems Prototypes Costs Nonlinear control systems Automatic control Laboratories Mobile robots Vehicles
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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