Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of Steering Controller of AGV using Cell Mediate Immune Algorithm

세포성 면역 알고리즘을 이용한 AGV의 조향 제어기 설계에 관한 연구

  • 이영진 (항공기능대학 전기계측제어과) ;
  • 이진우 (동아대 대학원 전기공학과) ;
  • 이권순 (동아대 전기전자컴퓨터공학부)
  • Published : 2001.10.01
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Abstract

The PID controller has been widely applied to the most control systems because of its simple structure and east designing. One of the important points to design the PID control system is to tune the approximate control parameters for the given target system. To find the PID parameters using Ziegler Nichols(ZN) method needs a lot of experience and experiments to ensure the optimal performance. In this paper, CMIA(Cell Mediated Immune Algorithm) controller is proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller is based on specific immune responses of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering and speed of that AGV are performed. The tracking error of the AGV is mainly investigated for this purpose. As a result, the capability of realization and reliableness are proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID(Neural Network PID) controller.

Keywords

References

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