A MIMO Robust Servo Controller Design Method for Omnidirectional Automated Guided Vehicles Using Polynomial Differential Operator

  • Van Lanh Nguyen
  • Sung Won Kim
  • Choong Hwan Lee
  • Dae Hwan Kim
  • Hak Kyeong Kim
  • Sang Bong KimEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 554)


This paper proposes a MIMO robust servo controller design method for a three wheeled Omnidirectional Automated Guided Vehicles (OAGVs) with a disturbance to track desired references using a polynomial differential operator. The process for designing the proposed controller can be described as follows: Firstly, modeling of the MIMO three-wheeled OAGV are presented. Secondly, a new extended system is obtained by applying the polynomial differential operator to the state space model and the output velocity error vector. Thirdly, the proposed controller for the given plant is designed by using the pole assignment method. By applying an inverse polynomial differential operator, a servo compensator is obtained. Finally, in order to verify the effectiveness of the proposed controller, the numerical simulation results are shown. The simulation results show that the proposed controller has good tracking performance under a step type of disturbance and the complicated higher order reference signals such as ramp and parabola. These simulation results are compared with those of the adaptive controller proposed by Bui, T. L. in 2013. The proposed controller shows the better tracking performance than the adaptive controller.


MIMO OAGV Three-wheeled Polynomial differential operator 



This work (Grants No. S2608022) was supported by Business for Cooperative R&D between Industry, Academy, and Research Institute funded Korea Small and Medium Business Administration in 20.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Van Lanh Nguyen
    • 1
  • Sung Won Kim
    • 1
  • Choong Hwan Lee
    • 2
  • Dae Hwan Kim
    • 1
  • Hak Kyeong Kim
    • 1
  • Sang Bong Kim
    • 1
    Email author
  1. 1.Department of Mechanical Design EngineeringPukyong National UniversityBusanRepublic of Korea
  2. 2.Department of Machine System EngineeringDongwon Institute of Science and TechnologyYangsanRepublic of Korea

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