Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Tracking control of AGV with Observer.

Observer를 이용한 무인 반송차의 경로 추종 제어

  • Lee, Won-Kyung (Department of Electrical Engineering, Inha University) ;
  • Im, Il-Sun (Department of Electrical Engineering, Inha University) ;
  • Huh, Uk-Youl (Department of Electrical Engineering, Inha University)
  • 이원경 (인하대학교 전기공학과) ;
  • 임일선 (인하대학교 전기공학과) ;
  • 허욱열 (인하대학교 전기공학과)
  • Published : 2000.07.17
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Abstract

This thesis deals with study and implementation of Fuzzy controller with observer which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors. which can identify the guiding path. This controller has excellent disturbance rejection and therefore is advantageous when it is instructed to follow straight paths. This fuzzy controller with observer enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller

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