A Fuzzy Virtual Actuator for Automated Guided Vehicles

被引:8
|
作者
Stetter, Ralf [1 ]
机构
[1] Ravensburg Weingarten Univ RWU, Dept Mech Engn, D-88250 Weingarten, Germany
关键词
virtual sensors; virtual actuators; fault-tolerance; automated guided vehicles; FAULT-TOLERANT CONTROL; OUTPUT-FEEDBACK CONTROL; VIBRATION CONTROL; SYSTEMS; DESIGN; METHODOLOGY; CONTROLLER; DIAGNOSIS; ABSORBER;
D O I
10.3390/s20154154
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
In the last decades, virtual sensors have found increasing attention in the research community. Virtual sensors employ mathematical models and different sources of information such as actuator states or sensors, which are already existing in a system, in order to generate virtual measurements. Additionally, in recent years, the concept of virtual actuators has been proposed by leading researchers. Virtual actuators are parts of a fault-tolerant control strategy and aim to accommodate faults and to achieve a safe operation of a faulty plant. This paper describes a novel concept for a fuzzy virtual actuator applied to an automated guided vehicle (AGV). The application of fuzzy logic rules allows integrating expert knowledge or experimental data into the decision making of the virtual actuator. The AGV under consideration disposes of an innovative steering concept, which leads to considerable advantages in terms of maneuverability, but requires an elaborate control system. The application of the virtual actuator allows the accommodation of several possible faults, such as a slippery surface under one of the drive modules of the AGV.
引用
收藏
页码:1 / 23
页数:23
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