Stable Fuzzy State Space Controller for Lateral Control of an AGV

Authors: Wijesoma W.S.; Kodagoda K.R.S.; Teoh E.K.

Source: The Journal of VLSI Signal Processing, Volume 32, Numbers 1-2, August 2002 , pp. 189-201(13)

Publisher: Springer

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Abstract:

The primary focus of the paper is on the development of an intelligent control scheme, which is insensitive to parametric uncertainty, load and parameter fluctuations and most importantly amenable for real time implementation. In this paper, we present a stable Lateral Fuzzy Controller (LAFC) for an outdoor Autonomously Guided Vehicle (AGV), which is a converted electrically powered golf-car. The controller performance is assessed both through simulations and experimental results. It is established that the fuzzy logic controller (FLC) yields good performance even under uncertain and variable parameters in the model, unlike the computed torque technique (CTT) or conventional PID control. In terms of real-time implementation the reduced computational complexity of the fuzzy controller as compared to the CTT, makes the fuzzy controller, an ideal choice amongst the two schemes.

Keywords: lateral control; stability; sliding mode control; fuzzy sliding mode control; fuzzy PD control

Language: English

Document Type: Research article

Affiliations: 1: School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798

Publication date: 2002-08-01