Abstract
This paper is concerned with a control system design for the new type of omnidirectional AGV (automated guided vehicle) without any steering mechanisms. The plant is regarded as a highly nonlinear multidimensional system with parameter uncertainties, so that the conventional control techniques are not available. Here we propose a new control algorithm by combining nonlinear decoupling control with robust simple adaptive control (SAC). Both techniques were developed by one of the authors. The control system then results in single input and single output (SISO) systems by the effect of decoupling control and the control accuracy is assured by robust SAC. The effectiveness of the proposed method is confirmed through numerical simulations.
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