한국항해항만학회:학술대회논문집 (Proceedings of the Korean Institute of Navigation and Port Research Conference)

한국항해항만학회 (Korean Institute of Navigation and Port Research)
권호 표지

면역 알고리즘을 이용한 AGV의 2자유도 PID조향 제어기 설계에 관한 연구

A Design of Two Degree of Freedom PID Controller for AGV using Immune Algorithm

  • 이창훈 (동아대학교대학원 전기공학과) ;
  • 이진우 (동아대학교대학원 전기공학과) ;
  • 이영진 (항공기능대학교 전기계측제어과 전임교수) ;
  • 이권순 (동아대학교 전기전자컴퓨터공학부)
  • 발행 : 2002.03.01
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초록

Immune system is an evolutionary biological system to protect Innumerable foreign materials such as virus, germ cell, and et cetera. Immune algorithm is the modeling of this system'response that has adaptation and reliableness when disturbance occur. In this paper, immune algorithm controller was proposed to control four wheels steering(4ws) Automated Guided vehicle(AGV) in container yard. And then the simulation result was analysed and compared with the results of NN-PID controller.

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