Abstract
The primary focus is on the development of an intelligent control scheme, which is insensitive to parametric uncertainty, load and parameter fluctuations and most importantly amenable for real time implementation. In this paper, we present an effective uncoupled direct fuzzy PD/PI control scheme for an outdoor AGV, which is a converted electrically powered golf-car. The controller performance is assessed against the required performance criteria and also against another effective nonlinear control method known as computed torque technique (CTT). It is established through simulations that the fuzzy logic controller (FLC) yields good performance even under uncertain and variable parameters in the model, unlike the CTT. And in terms of real-time implementation the availability of custom fuzzy chips and the reduced computational complexity of the fuzzy controller as against the CTT, makes the fuzzy controller, an ideal choice amongst the two schemes.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Xu Guangyang: Dynamic modeling and control of non-holonomic car-like vehicle, Technical report, School of Electrical and Electronic Engineering, Nanyang Technological University, (June 1998).
Corrier, W.H., Fenton, R.E.: On the steering of automated vehicles-a velocity adaptive controller, IEEE Trans. On Vehicular Technology, vol. VT-29, No.4, (Nov. 1980).
Dickmans, E.D., Zapp, A.: A curvature-based scheme for improving road vehicle guidance by computer vision, SPIE vol.727, mobile robots (1986) 161–168.
Tomizuka, ML, Peng, H.: Preview control for vehicle lateral guidance in highway automation, Journal of ASME, vol.115,(Dec 1993) 679–684.
Lee, A.Y.: A preview steering autopilot control algorithm for four-wheel-steering passenger vehicles, Journal of ASME, vol.114,(Sept. 1992) 401–408.
Hui Wu, Wensen Chang, Hangen He, Ping Xi: A fuzzy control method for lateral control of Autonomous Land Vehicle, In Proceedings, Mobile Robots X, SPIE-The International Society for Optical Engineering, Vol. 2591, (23–24 October 1995) 125–131.
Thomas Hessburg, Masaoshi Tomizuka: Fuzzy Logic Control for Lateral Vehicle Guidance, IEEE Control Systems Magazine, Vol. 14,(Aug. 1994) 55–63.
Li Zheng: A practical guide to tune of Proportional and Integral (PI) like fuzzy controllers, IEEE Int. Conf. On Fuzzy systems, Sandiago, (1992) 633–640.
W. Sardha Wijesoma, K.R. Sarath Kodagoda, E.K. Teoh: Robust fuzzy PD/PI control of an AGV, submitted to ARCA’99, scheduled on (March 30–Appl. 1999), Brisbane, Australia.
Witold Pedrycz: Why triangular membership functions. Fuzzy Sets and Systems 64 (1994) 21–30.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Kodagoda, K.R.S., Wijesoma, W.S., Teoh, E.K. (1999). Robust Un-coupled Fuzzy Controller for Longitudinal and Lateral Control of an AGV. In: Reusch, B. (eds) Computational Intelligence. Fuzzy Days 1999. Lecture Notes in Computer Science, vol 1625. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48774-3_43
Download citation
DOI: https://doi.org/10.1007/3-540-48774-3_43
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66050-7
Online ISBN: 978-3-540-48774-6
eBook Packages: Springer Book Archive