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[ pdf ] Parameter Tuning and Cooperative Control for Automated Guided Vehicles

Parameter Tuning and Cooperative Control for Automated Guided Vehicles Download
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Topic under  Control Engineering
Source: alexandria.tue.nl 
File size: 3.15 MB
File type: pdf
Last download on: Tue Apr 10, 2018 04:14:39 AM
Short Desciption:
The key issue in the control design for cooperative transportation tasks is ...... For the control and observer design for the cooperative transportation

Summary:
For several practical control engineering applications it is desirable that multiple systems can operate independently as well as in cooperation with each other. Especially when the transition between individual and cooperative behavior and vice versa can be carried out easily, this results in exible and scalable systems. A subclass is formed by systems that are physically separated during individual operation, and very tightly coupled during cooperative operation. One particular application of multiple systems that can operate independently as well as in concert with each other is the cooperative transportation of a large object by multiple Automated Guided Vehicles (AGVs). AGVs are used in industry to transport all kinds of goods, ranging from small trays of compact and video discs to pallets and 40-tonne coils of steel. Current applications typically comprise a eet of AGVs, and the vehicles transport products on an individual basis. Recently there has been an increasing demand to transport very large objects such as sewer pipes, rotor blades of wind turbines and pieces of scenery for theaters, which may reach lengths of over thirty meters. A realistic option is to let several AGVs operate together to handle these types of loads.
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