RT Journal Article
T1 Trajectory tracking nonlinear hybrid control of automated guided vehicles
A1 Sánchez-Rodríguez, Antonio
A1 Bayona, Eduardo
A1 Sierra-García, J. Enrique
A1 Santos Peñas, Matilde
A2 Hindawi, 
AB Automated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking to make accurate stops at logistics stations, such as loading stations, or to pick up or drop off trolleys, pallets, or racks. This paper proposes a hybrid control architecture for trajectory tracking of a hybrid tricycle-differential AGV. The control strategy combines conventional proportional integral derivative (PID) control with advanced nonlinear Lyapunov control (LPC). The LPC is used for trajectory tracking while the PID is used for speed control of the robot. The stability of the controller is demonstrated for any differentiable trajectory. When a PID optimized with genetic algorithms is compared with the proposed controller for several trajectories, the LPC outperforms it in all cases.
PB Hindawi
YR 2024
FD 2024-05-06
LK https://hdl.handle.net/20.500.14352/104377
UL https://hdl.handle.net/20.500.14352/104377
LA eng
NO 2023 Acuerdos transformativos CRUE
DS Docta Complutense
RD 18 abr 2025