Design of Stable Fuzzy Controllers for an AGV

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dc.contributor.author Wijesoma, W en_US
dc.contributor.author Kodagoda, Sarath en_US
dc.contributor.author Teoh, Eam en_US
dc.contributor.editor NA en_US
dc.date.accessioned 2010-07-13T08:50:38Z
dc.date.available 2010-07-13T08:50:38Z
dc.date.issued 2000 en_US
dc.identifier 2006007673 en_US
dc.identifier.citation Wijesoma W, Kodagoda Sarath, and Teoh Eam 2000, 'Design of Stable Fuzzy Controllers for an AGV', IEEE, USA, pp. 1044-1049. en_US
dc.identifier.issn 0-7803-6348-5 en_US
dc.identifier.other E1UNSUBMIT en_US
dc.identifier.uri http://hdl.handle.net/10453/12677
dc.description.abstract Fuzzy logic control is a relatively new technology and hence it needs rigorous comparative analyses with other well-established conventional control schemes. Furthermore, fuzzy controller stability analysis is a major hindrance for its popularity among control engineers. This paper shows how stable fuzzy controllers may be synthesized for a typical AGV from the perspective of variable structure systems (VSS) theory. VSS or sliding model control (SMC) is an established robust nonlinear control methodology. The AGV is characterized by highly nonlinear, coupled and configuration dependent dynamics, with uncertainty in model parameters. Similarity in performance of the fuzzy controllers to the SMC controller is demonstrated through experimental results obtained for steering control of the AGV en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IROS.2000.893157 en_US
dc.title Design of Stable Fuzzy Controllers for an AGV en_US
dc.parent Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) en_US
dc.journal.volume 2 en_US
dc.journal.number en_US
dc.publocation USA en_US
dc.identifier.startpage 1044 en_US
dc.identifier.endpage 1049 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 091303 en_US
dc.personcode 0000026361 en_US
dc.personcode 040387 en_US
dc.personcode 0000030920 en_US
dc.percentage 50 en_US
dc.classification.name Autonomous Vehicles en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20001030 en_US
dc.location.activity Japan en_US
dc.description.keywords automatic guided vehicles , control system synthesis , fuzzy control , nonlinear control systems , position control , robust control , variable structure systems en_US


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