[KSCI] Korea Science Citation Index Service

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))

Publication Information

Journal of Mechanical Science and Technology / v.19, no.9, 2005 , pp. 1720-1730 More about this Journal

Abstract

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.

Keywords

Automatic Guided Vehicle (AGV); Decentralized Control Glgorithm; Passivity; Passive Velocity Field Control (PVFC); Wheeled Mobile Robot (WMR); Lyapunov Stability;

Citations & Related Records

Times Cited By KSCI : 1 (Citation Analysis)
Times Cited By Web Of Science : 2 (Related Records In Web of Science)
Times Cited By SCOPUS : 1

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