Simple adaptive dynamical control of vehicles driven by omnidirectional wheels

J. K. Tar, I. J. Rudas, I. Nagy, K. R. Kozłowski, J. A. Tenreiro Machado

Research output: Conference contribution

5 Citations (Scopus)

Abstract

Precise control of Automatic Guided Vehicles (AGVs) navigating between the aisles of manufacturing systems by the use of local markers is an important task. On the basis of the geometric model of the workspace and the vehicles and that of the sensor uncertainties precise trajectories were recently generated along which the vehicle safely can move. In order to achieve precise trajectory tracking the effects of the system's dynamical uncertainties (modeling errors and possible external perturbations) have to be compensated. In the present paper a simple, Fixed point transformations based adaptive control is proposed for this purpose. The proposed method is tested via simulation for a vehicle of triangular shape, driven by three omnidirectional wheels. The method is also able to monitor and evade the conditions that may lead to turning over the vehicle.

Original languageEnglish
Title of host publicationICCC 2009 - IEEE 7th International Conference on Computational Cybernetics
Pages91-95
Number of pages5
DOIs
Publication statusPublished - 2009
EventIEEE 7th International Conference on Computational Cybernetics, ICCC 2009 - Palma de Mallorca, Spain
Duration: nov. 26 2009nov. 29 2009

Publication series

NameICCC 2009 - IEEE 7th International Conference on Computational Cybernetics

Other

OtherIEEE 7th International Conference on Computational Cybernetics, ICCC 2009
CountrySpain
CityPalma de Mallorca
Period11/26/0911/29/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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  • Cite this

    Tar, J. K., Rudas, I. J., Nagy, I., Kozłowski, K. R., & Tenreiro Machado, J. A. (2009). Simple adaptive dynamical control of vehicles driven by omnidirectional wheels. In ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics (pp. 91-95). [5393954] (ICCC 2009 - IEEE 7th International Conference on Computational Cybernetics). https://doi.org/10.1109/ICCCYB.2009.5393954