NDLI: Design of a stable controller for accurate path tracking of automated guided vehicles systems

Content Provider	Springer Nature Link
Author	Kuttolamadom, Mathew Mehrabi, Mostafa G. Weaver, J.
Copyright Year	2010
Abstract	This paper deals with the path tracking and stability of motion of automated guided vehicle systems and wheeled mobile robots. A two degree-of-freedom dynamic model is developed to represent the plane motion of the vehicle. This model along with the instantaneous posture errors (position and orientation errors) of the vehicle are used to formulate their path-tracking problem in state space format. Implementation of stability criterion and application of the actual physical limits of the pertinent parameters of the system are the strategies used to design the controller. It is shown that implementation of a control strategy based on the vehicles’ position and orientation errors gives satisfactory results in vehicles’ path tracking. The feasibility of the approach and the performance of the controlled system are demonstrated by using a prototype vehicle.
Starting Page	1183
Ending Page	1188
Page Count	6
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	50
Issue Number	9-12
e-ISSN	14333015
Language	English
Publisher	Springer-Verlag
Publisher Date	2010-03-03
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Path tracking Control of AGVs Controller design Stability Computer-Aided Engineering (CAD, CAE) and Design Mechanical Engineering Production/Logistics Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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