Trajectory tracking nonlinear hybrid control of automated guided vehicles

Automated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking tomake accurate stops at logistics stations, such as loading stations, or to pick up or drop of trolleys, pallets, or racks. Tis paperproposes a hybrid control architecture for t...

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Detalhes bibliográficos
Autores: Sánchez-Rodríguez, Antonio, Bayona, Eduardo, Sierra García, Jesús Enrique, Santos Peñas, Matilde
Tipo de documento: artigo
Data de publicação:2024
País:España
Recursos:Universidad Complutense de Madrid (UCM)
Repositório:Docta Complutense
Idioma:inglês
OAI Identifier:oai:docta.ucm.es:20.500.14352/108132
Acesso em linha:https://hdl.handle.net/20.500.14352/108132
Access Level:Acceso aberto
Palavra-chave:Robótica
3311.02 Ingeniería de Control
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spelling Trajectory tracking nonlinear hybrid control of automated guided vehiclesSánchez-Rodríguez, AntonioBayona, EduardoSierra García, Jesús EnriqueSantos Peñas, MatildeRobótica3311.02 Ingeniería de ControlAutomated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking tomake accurate stops at logistics stations, such as loading stations, or to pick up or drop of trolleys, pallets, or racks. Tis paperproposes a hybrid control architecture for trajectory tracking of a hybrid tricycle-diferential AGV. Te control strategy combinesconventional proportional integral derivative (PID) control with advanced nonlinear Lyapunov control (LPC). Te LPC is usedfor trajectory tracking while the PID is used for speed control of the robot. Te stability of the controller is demonstrated for anydiferentiable trajectory. When a PID optimized with genetic algorithms is compared with the proposed controller for severaltrajectories, the LPC outperforms it in all cases.WileyUniversidad Complutense de Madrid20242024-01-0120242024-01-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/20.500.14352/108132reponame:Docta Complutenseinstname:Universidad Complutense de Madrid (UCM)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:docta.ucm.es:20.500.14352/1081322026-06-02T12:44:21Z
dc.title.none.fl_str_mv Trajectory tracking nonlinear hybrid control of automated guided vehicles
title Trajectory tracking nonlinear hybrid control of automated guided vehicles
spellingShingle Trajectory tracking nonlinear hybrid control of automated guided vehicles
Sánchez-Rodríguez, Antonio
Robótica
3311.02 Ingeniería de Control
title_short Trajectory tracking nonlinear hybrid control of automated guided vehicles
title_full Trajectory tracking nonlinear hybrid control of automated guided vehicles
title_fullStr Trajectory tracking nonlinear hybrid control of automated guided vehicles
title_full_unstemmed Trajectory tracking nonlinear hybrid control of automated guided vehicles
title_sort Trajectory tracking nonlinear hybrid control of automated guided vehicles
dc.creator.none.fl_str_mv Sánchez-Rodríguez, Antonio
Bayona, Eduardo
Sierra García, Jesús Enrique
Santos Peñas, Matilde
author Sánchez-Rodríguez, Antonio
author_facet Sánchez-Rodríguez, Antonio
Bayona, Eduardo
Sierra García, Jesús Enrique
Santos Peñas, Matilde
author_role author
author2 Bayona, Eduardo
Sierra García, Jesús Enrique
Santos Peñas, Matilde
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidad Complutense de Madrid
dc.subject.none.fl_str_mv Robótica
3311.02 Ingeniería de Control
topic Robótica
3311.02 Ingeniería de Control
description Automated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking tomake accurate stops at logistics stations, such as loading stations, or to pick up or drop of trolleys, pallets, or racks. Tis paperproposes a hybrid control architecture for trajectory tracking of a hybrid tricycle-diferential AGV. Te control strategy combinesconventional proportional integral derivative (PID) control with advanced nonlinear Lyapunov control (LPC). Te LPC is usedfor trajectory tracking while the PID is used for speed control of the robot. Te stability of the controller is demonstrated for anydiferentiable trajectory. When a PID optimized with genetic algorithms is compared with the proposed controller for severaltrajectories, the LPC outperforms it in all cases.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-01-01
2024
2024-01-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/20.500.14352/108132
url https://hdl.handle.net/20.500.14352/108132
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Wiley
publisher.none.fl_str_mv Wiley
dc.source.none.fl_str_mv reponame:Docta Complutense
instname:Universidad Complutense de Madrid (UCM)
instname_str Universidad Complutense de Madrid (UCM)
reponame_str Docta Complutense
collection Docta Complutense
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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