Robust un-coupled fuzzy controller for longitudinal and lateral control of an AGV

摘要

The primary focus is on the development of an intelligent control scheme, which is insensitive to parametric uncertainty, load and parameter fluctuations and most importantly amenable for real time implementation. In this paper, we present an effective uncoupled direct fuzzy PD/PI control scheme for an outdoor AGV, wich is a converted electrically powered golf-car. The controller performance is assessed against the required performance criteria and also against another effective nonlinear control method known as computed torque technique (CTT). It is established through simulations that the fuzzy logic controller (FLC) yields good performance even under uncertain and variable parameters in the model, unlike the CTT. And in terms of real-time implementation the availability of custom fuzzy chips and the reduced computational complexity of the fuzzy controller as against the CTT, makes the fuzzy controller, an ideal choice amongst the two schemes.