Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
Journal of Vibration and Control
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Suárez, J. I.
Right arrow Articles by Yangquan Chen
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

A Fractional Adaptation Scheme for Lateral Control of an AGV

José I. Suárez

Industrial Engineering School, University of Extremadura, Avda. de Elvas, s/n. 06071 Badajoz, Spain, jmarcelo{at}unex.es

Blas M. Vinagre

Industrial Engineering School, University of Extremadura, Avda. de Elvas, s/n. 06071 Badajoz, Spain

Yangquan Chen

Center for Self-Organizing and Intelligent Systems (CSOIS), Department of Electrical and Computer Engineering, Utah State University, 4120 Old Main Hill, Logan, UT 84322-4120 USA

Lateral control of an autonomous guided vehicle is influenced strongly by both the longitudinal speed and the position input command (magnitude of the reference signal) of the vehicle. For that reason some suitable strategies for governing the vehicle are adaptive and robust controllers. In this article, an adaptive scheme which combines a model reference approach with a fractional order adjustment rule for a feedforward gain adjustment is proposed. Two parameters can be tuned to obtain robustness with respect to variations in speed and magnitude of the reference signal: Adaptation gain, and derivative order of the adjustment rule. A model is developed for the vehicle, the design procedure is discussed, and simulation results are obtained to show the advantages the proposed fractional adaptation scheme.

Key Words: Fractional control • adaptive control • autonomous vehicles

Journal of Vibration and Control, Vol. 14, No. 9-10, 1499-1511 (2008)
DOI: 10.1177/1077546307087434
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?