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General Information
    • ISSN: 1793-8198
    • Frequency: Quarterly
    • DOI: 10.18178/IJMMM
    • Editor-in-Chief: Prof. K. M. Gupta, Prof. Ian McAndrew
    • Executive Editor: Ms. Cherry L. Chen
    • Abstracting/Indexing: EI (INSPEC, IET), Chemical Abstracts Services (CAS),  ProQuest, Crossref, Ulrich's Periodicals Directory,  etc.
    • E-mail ijmmm@ejournal.net
Editor-in-chief
Prof. Ian McAndrew
Capitol Technology University, USA
It is my honor to be the editor-in-chief of IJMMM. I will do my best to help develop this journal better.

IJMMM 2018 Vol.6(2): 131-135 ISSN: 1793-8198
DOI: 10.18178/ijmmm.2018.6.2.362

Design of an Automated Mobile Rack Using Repetitive Control Method

Hwanseong Kim, Yunsu Ha, and Kyoungmi Cheon
Abstract—Non-rail mobile rack, which is used for cargo storage, can improve the storage capacities of logistics centers. Furthermore, it has the advantage that it can be used in traditional logistics centers without making any changes or renovation, such as installing rails. However, when the rack is operated by separated drive actuators mounted on the left and the right wheels, precise position control of the wheels is necessary even if the unbalanced cargo weight on the rack would affect the control. Therefore, internal synchronization control for position tracking between the left and right wheels on the non-rail mobile rack is necessary in this study. In addition, external synchronization control for realizing the same straight movements between mobile racks is necessary. For the internal and the external synchronization control, we propose a synchronization control algorithm based on the repetitive control theory. An internal synchronization control algorithm with repetitive control theory requires the application of the robust servo control method owing to parameter variations. In this case, we can set up the gains for the robust servo control system by considering the cargo variations on the mobile rack. Furthermore, for developing the external synchronization control algorithm, we use a double repetitive control system to perform synchronization control between mobile racks. The efficiency of the proposed control algorithm will be verified by simulation and experimental results. The proposed algorithm can be easily applied in the industry.

Index Terms—Non-rail, mobile rack, synchonization, repetitive control.

Hwanseong Kim is with the Department of Logistics, Korea Maritime and Ocean University, Busan, Korea (e-mail: kimhs@kmou.ac.kr). Yunsu Ha is with the department of Control and Instrumentation, Korea Maritime and Ocean University, Busan, Korea (e-mail: hys@kmou.ac.kr). Kyeoungmi Cheon is with the Korea Maritime and Ocean University, Busan, Korea (e-mail: joyful@kmou.ac.kr).

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Cite: Hwanseong Kim, Yunsu Ha, and Kyoungmi Cheon, "Design of an Automated Mobile Rack Using Repetitive Control Method," International Journal of Materials, Mechanics and Manufacturing vol. 6, no. 2, pp. 131-135, 2018.

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