AGV용 퍼지 상호 결합 제어기 설계

초록

In this paper, the cross-coupling controller with fuzzy logic for AGV is developed. Cross-coupling control directly minimizes orientation error by coordinating the motion of the two drive wheels and uses PI controller for compensation. But, the transient response of PI controller results in deviation from trajectory. The Fuzzy Cross-coupling controller enhances transient performance without steady-state error. The performance of the above controller is demonstrated by simulation and is compared with that of PI controller.