Immune Algorithm을 이용한 AGV 적응제어를 위한 동정에 관한 연구

In this paper, we described a method of dynamical system identification and its control parameter tuning based on artificial immune system in AGV(autonomous guided vehicle) that has four wheel steering system in the port. The immune system not only can easily adapt itself to the variation of environment and various disturbances, but also has abilities of learning and recognition using associative memory cells. The proposed method was composed of model identifier(emulator) and controller tuner respectively based on HIR(humoral immune response) and CMR(cell-mediated response) in the biological immune system. For suddenly local system fault, this example was states of fixed front or rear wheels, we performed the simulation to choice system parameters and tune controller gains using the proposed HIR model emulator and CMR tuner.