Design of stable fuzzy controllers for an AGV

Wijesoma, WS; Kodagoda, KRS

Design of stable fuzzy controllers for an AGV

Wijesoma, WS Kodagoda, KRS

Permalink

Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2000, 2 pp. 1044 - 1049
Issue Date:: 2000-12-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download full textAdobe PDF (118.7 kB)

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Wijesoma, WS	en_US
dc.contributor.author	Kodagoda, KRS https://orcid.org/0000-0001-5175-9138	en_US
dc.date.issued	2000-12-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2000, 2 pp. 1044 - 1049	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12677
dc.description.abstract	Fuzzy logic control is a relatively new technology and hence it needs rigorous comparative analyses with other well-established conventional control schemes. Further, fuzzy controller stability analysis is a major hindrance for its popularity among control engineers. This paper shows how stable fuzzy controllers may be synthesized for a typical AGV from the perspective of variable structure systems (VSS) theory. VSS or sliding model control (SMC) is an established robust non-linear control methodology. The AGV is characterized by highly non-linear, coupled and configuration dependent dynamics, with uncertainty in model parameters. Similarity in performance of the fuzzy controllers to the SMC controller is demonstrated through experimental results obtained for steer control of the AGV.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.title	Design of stable fuzzy controllers for an AGV	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Japan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	2	en_US

Abstract:

Fuzzy logic control is a relatively new technology and hence it needs rigorous comparative analyses with other well-established conventional control schemes. Further, fuzzy controller stability analysis is a major hindrance for its popularity among control engineers. This paper shows how stable fuzzy controllers may be synthesized for a typical AGV from the perspective of variable structure systems (VSS) theory. VSS or sliding model control (SMC) is an established robust non-linear control methodology. The AGV is characterized by highly non-linear, coupled and configuration dependent dynamics, with uncertainty in model parameters. Similarity in performance of the fuzzy controllers to the SMC controller is demonstrated through experimental results obtained for steer control of the AGV.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/12677