Robust control of magnetic guidance lightweight AGVs path tracking using randomization methods

M. G. Madaschi, E. Gryazina, A. L. Cologni, C. Spelta, F. Previdi, S. M. Savaresi, I. Pesenti

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

In this paper, a state space dynamical model for the differential drive path tracking system of an AGV (Automated Guided Vehicle) is developed. In order to guarantee desirable control specifications for a wide range of possible masses (50 < M < 1000kg), the payload mass is considered as uncertainty in the model. Robust stability domain in the controller parameter space via randomization technique is analysed. Two sets of controller parameters are selected and experimentally tested on a commercial vehicle, showing performances in agreement with the analysis.

Original languageEnglish
Title of host publication2013 European Control Conference, ECC 2013
PublisherIEEE Computer Society
Pages262-267
Number of pages6
ISBN (Print)9783033039629
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 12th European Control Conference, ECC 2013 - Zurich, Switzerland
Duration: 17 Jul 201319 Jul 2013

Publication series

Name2013 European Control Conference, ECC 2013

Conference

Conference2013 12th European Control Conference, ECC 2013
Country/TerritorySwitzerland
CityZurich
Period17/07/1319/07/13

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