Kinematic Model Reference Adaptive Controller for a Lurking Type Automated Guided Vehicle using Traction Drive Unit

摘要

This paper proposes an adaptive controller using model reference based on a kinematic model of a lurking type automated guided vehicle (AGV) using a traction drive unit. Firstly, a system description of AGV composited of a traction drive unit like a two-wheeled mobile robot and a tricycle mobile robot is introduced. Secondly, the configuration of AGV in the planar coordinate is analyzed to obtain a kinematic model. Thirdly, an adaptive controller is developed by using the kinematic model based on Lyapunov stability theory for controlling the position of the AGV. Finally, the effectiveness of the proposed controller is evaluated through simulation results.