Experimental Evaluation of Fuzzy Controllers for an Outdoor AGV

Fuzzy logic control is a relatively new technology and hence it needs rigorous comparative experimental analyses with other well-established conventional control schemes. Further, fuzzy controller stability analysis is a major hindrance for its popularity among control engineers. In this paper, stable fuzzy variable structure systems or Sliding Mode Controllers (SMC) and fuzzy PDPID controllers for steer and drive control of an Autonomous Guided Vehicle (AGV) are developed and implemented on an actual AGV. The synthesized controllers are further assessed against conventional SMC, PD/PID through actual implementation on a moderately sized outdoor AGV.

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