Journal of Mechanical Science and Technology

  • 제19권9호
  • /
  • Pages.1720-1730
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  • 2005
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  • 1738-494X(pISSN)
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  • 1976-3824(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지

Object-Transportation Control of Cooperative AGV Systems Based on Virtual-Passivity Decentralized Control Algorithm

  • Suh, Jin-Ho (Department of Electrical Engineering, Dong-A University, National Research Laboratory(NRL)) ;
  • Lee, Young-Jin (Department of Electrical Instrument and Control, Korea Aviation Polytechnic College) ;
  • Lee, Kwon-Soon (Department of Electrical Engineering, Dong-A University, National Research Laboratory(NRL))
  • 발행 : 2005.09.01
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초록

Automatic guided vehicle in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control to multiple AGV systems. Each AGV system is under nonholonomic constraints and conveys a common object-transportation in a horizontal plain. Moreover it is shown that cooperative robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to trace a circle. Finally, the simulation and experimental results for the object-transportation by two AGV systems illustrates the validity of the proposed virtual-passivity decentralized control algorithm.

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참고문헌

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