Decoupling and Robust Adaptive Control of Omnidirectional, Automated Guided Vehicle Based on Nonguided Line Navigation System
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概要
- 論文の詳細を見る
This paper is concerned with a control system design for the new type of omnidirectional AGV (automated guided vehicle) without any steering mechanisms. The system is regarded as a highly nonlinear multidimensional system with parameter uncertainties, so the conventional control techniques are not available. Here we propose a new control algorithm by combining nonlinear decoupling control with robust simple adaptive control (SAC). Both techniques were developed by one of the authors. The control system then results in single-input and single-output (SISO)control systems by the effect of decoupling control, and the control accuracy is assured by robust SAC. The effectiveness of the proposed method is confirmed through numerical simulations.
- 一般社団法人日本機械学会の論文
- 1994-03-15
著者
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IWAI Zenta
Department of Mechanical Engineering and Materials Science, Kumamoto University
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Iwai Zenta
Department Of Mechanical Engineering Kumamoto University
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Kawasaki Yoshinori
Department of Mechanical Engineering, Ariake National College of Technology
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Haramaki Shinya
Department of Mechanical Engineering, Ariake National College of Technology
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Kawasaki Yoshinori
Department Of Mechanical Engineering Ariake National College Of Technology
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Haramaki Shinya
Department Of Mechanical Engineering Ariake National College Of Technology
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- Decoupling and Robust Adaptive Control of Omnidirectional, Automated Guided Vehicle Based on Nonguided Line Navigation System