Abstract
This paper is based on a project which developed a batch-feeding AGV for the filling production line of pickled food. This paper summarized the tracking control algorithm of the AGV. This paper first describes the application environment and control requirements of the batch-feeding AGV, then introduces the hardware composition of the tracking control system and the kinematics model of the AGV, and finally explains the implementation of the tracking control algorithm based on fuzzy logic PID in detail. The tracking control algorithm in this paper combines the traditional PID control algorithm with fuzzy logic, adopts fuzzy adaptive control for the proportional link, and uses separate-integral integrator. This algorithm enables the AGV tracking process to adapt to the change of speed and reduce the overshoot, so as to ensure the stationarity of the tracking process. Finally, the feasibility of the control is illustrated by matlab simulation results.
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Acknowledgment
This research was supported by the Sichuan Science and Technology Support Program under Grant 2016NZ0077.
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Li, Y. et al. (2020). Tracking Control Algorithm Based on Fuzzy Logic for Batch-Feeding AGV. In: Duan, B., Umeda, K., Hwang, W. (eds) Proceedings of the Seventh Asia International Symposium on Mechatronics. Lecture Notes in Electrical Engineering, vol 588. Springer, Singapore. https://doi.org/10.1007/978-981-32-9437-0_59
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DOI: https://doi.org/10.1007/978-981-32-9437-0_59
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