RT Journal Article
T1 Trajectory tracking nonlinear hybrid control of automated guided vehicles
A1 Sánchez-Rodríguez, Antonio
A1 Bayona, Eduardo
A1 Sierra García, Jesús Enrique
A1 Santos Peñas, Matilde
AB 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.
PB Wiley-Hindawi
YR 2024
FD 2024-05-06
LK https://hdl.handle.net/20.500.14352/108132
UL https://hdl.handle.net/20.500.14352/108132
LA eng
NO Sánchez-Rodríguez, A., Bayona, E., Sierra-García, J. E., & Santos, M. (2024). Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles. Complexity, 2024(1), 9514486.
DS Docta Complutense
RD 7 abr 2025