Object-Transportation Control of Cooperative AGV Systems based on Virtual-Passivity Decentralized Control

J.H. Suh, Y.J. Lee, Y.B. Kim, and K.S. Lee (Korea)


Automatic guided vehicle (AGV), Decentralized control, Passive velocity field control, Passivity


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 to multiple AGV systems. The application of proposed virtual passivity-based decentralized control method via system augmentation is applied to trace a circle. Also, the simulation and experimental results for the object transportation by two AGV systems illustrate the validity of the proposed virtual-passivity decentralized control method.

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