Decoupling and Robust Adaptive Control of Omnidirectional, Automated Guided Vehicle Based on Nonguided Line Navigation System

Abstract

This paper is concerned with a control system design for the new type of omnidirectional AGV (automated guided vehicle) without any steering mechanisms. The system is regarded as a highly nonlinear multidimensional system with parameter uncertainties, so the conventional control techniques are not available. Here we propose a new control algorithm by combining nonlinear decoupling control with robust simple adaptive control (SAC). Both techniques were developed by one of the authors. The control system then results in single-input and single-output (SISO) control systems by the effect of decoupling control, and the control accuracy is assured by robust SAC. The effectiveness of the proposed method is confirmed through numerical simulations. © 1994, The Japan Society of Mechanical Engineers. All rights reserved.