KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	A Cooperative Object-Transportation Control of Multiple AGV Systems using Decentralized Passive Velocity Field Control Algorithm
Authors	서진호(Suh, Jin-Ho) ; 김영복(Kim, Young-Bok) ; 이권순(Lee, Kwon-Soon)
Page	pp.261-263
ISSN	1975-8359
Keywords	Automated Guided Vehicle(AGV) ; Decentralize Control ; Passive Velocity Field Control ; Cooperative Control
Abstract	Automatic guided vehicle(AGV) in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control scheme based on virtual-passivity. It is shown that the cooperative AGV systems ensure stability and the convergence to scaled multiple of each desired velocity field for multiple AGV systems. Finally, the application of p reposed virtual passivity-based decentralized control algorithm via system augmentation is applied to be the tracking a circle. Also, the simulation results for the object-transportation by two AGV systems illustrate the validity of the proposed control scheme.

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