Paper Info
Title
Robust Un-coupled Fuzzy Controller for Longitudinal and Lateral Control of an AGV
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.
Year
DOI
Venue
1999
10.1007/3-540-48774-3_43
Fuzzy Days
Keywords
Field
DocType
pi control scheme,custom fuzzy chip,fuzzy controller,yields good performance,lateral control,intelligent control scheme,controller performance,required performance criterion,effective nonlinear control method,uncoupled direct fuzzy pd,fuzzy logic controller,robust un-coupled fuzzy controller,nonlinear control,intelligent control,computational complexity,electric power,chip
Intelligent control,Control theory,Control theory,Computer science,Nonlinear control,Fuzzy logic,Parametric statistics,Fuzzy control system,Control system,Membership function
Conference
Volume
ISSN
ISBN
1625
0302-9743
3-540-66050-X
Citations 
PageRank 
References 
2
0.46
2
Authors
3
Name
Order
Citations
PageRank
S. Kodagoda1608.14
W. Sardha Wijesoma29012.65
Eam Khwang Teoh387189.16