Robust Automated Guided Vehicle (AGV) Controller Design Method For Uneven Terrains Application

Adi Khairi, Abdul Latif (2015) Robust Automated Guided Vehicle (AGV) Controller Design Method For Uneven Terrains Application. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 pages) Robust Automated Guided Vehicle (AGV) Controller Design Method For Uneven Terrains Application24 Pages.pdf Download (589kB)

Abstract

Automated Guided Vehicle (AGV) can’t perform well in uneven terrain because many AGV have controller that are set for linear system. In the real world the system is in non-linear. From this, there is an equation than can help to calculate for this problem by designing an AGV controller based on Lyapunov Stability Analysis to construct a Control Lyapunov Function (CLF). A design method of Visual Servoing was proposed for AGV with two actuated wheel. In the Visual Servoing approach, an image based controller was designed by using CLF. The controller control and minimizes some significant unimportant cost on the controller which was not given in any advance, and the system with a minimum stability which hopefully proving robustness with respect to input uncertainties. The robustness of AGV is very important issue for uneven terrain applications. Experiments was conducted on Image-based control to examine the ability and accuracy of CLF controller. Analysis on CLF were made to prove accuracy and the robustness of the controller by comparing the two experiment that were made on flat surface and obstacle surface (outdoor). The results shows that the image based controller data more stable and accurate on flat surface rather than on obstacle surface.

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