International Journal of Fuzzy Logic and Intelligent Systems

  • 제16권3호
  • /
  • Pages.216-223
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  • 2016
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  • 1598-2645(pISSN)
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  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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PID and Adaptive Controllers for a Transportation Mobile Robot with Fork-Type Lifter

  • Nguyen, Van Vui (Department of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Tran, Huu Luat (Department of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Kim, Yong-Tae (Department of Electrical, Electronic and Control Engineering, Hankyong National University)
  • 투고 : 2016.09.18
  • 심사 : 2016.09.24
  • 발행 : 2016.09.25
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초록

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

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참고문헌

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