대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

분산 수동속도장 제어법을 이용한 다중 AGV 시스템의 협조 이송제어

A Cooperative Object-Transportation Control of Multiple AGV Systems using Decentralized Passive Velocity Field Control Algorithm

  • 발행 : 2006.06.01
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초록

Automatic guided vehicle(AGV) 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 scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of p reposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also, the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

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참고문헌

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