Design of stable fuzzy controllers for an AGV

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dc.contributor.author Wijesoma, WS
dc.contributor.author Kodagoda, KRS
dc.date.accessioned 2010-07-13T08:50:38Z
dc.date.issued 2000
dc.identifier.citation IEEE International Conference on Intelligent Robots and Systems, 2000, 2 pp. 1044 - 1049
dc.identifier.other E1UNSUBMIT 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.
dc.relation.hasversion Accepted manuscript version en_US
dc.title Design of stable fuzzy controllers for an AGV
dc.type Conference Proceeding
dc.parent IEEE International Conference on Intelligent Robots and Systems
dc.journal.volume 2
dc.journal.number en_US
dc.publocation USA en_US
dc.identifier.startpage 1044 en_US
dc.identifier.endpage 1049 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.conference IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.for 091007 Manufacturing Robotics and Mechatronics (Excl. Automotive Mechatronics)
dc.for 091303 Autonomous Vehicles
dc.personcode 040387
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20001030 en_US
dc.date.activity 2000-10-30
dc.location.activity Japan en_US
dc.description.keywords automatic guided vehicles , control system synthesis , fuzzy control , nonlinear control systems , position control , robust control , variable structure systems en_US
dc.description.keywords automatic guided vehicles , control system synthesis , fuzzy control , nonlinear control systems , position control , robust control , variable structure systems
pubs.embargo.period Not known
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 Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
utslib.collection.history General (ID: 2)


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