Designs of Particle-Swarm-Optimization-Based Intelligent PID Controllers and DC/DC Buck Converters for PEM Fuel-Cell-Powered Four-Wheeled Automated Guided Vehicle

For automatic guided vehicles (AGVs), maximizing the operating time with maximum energy efficiency is most important factor that increases work efficiency. In this study, fuel-cell-powered AGV (FCAGV) system was modeled and optimized control design were carried out to obtain high tracking performance minimum power consumption. Firstly, a full mathematical model of FCAGV, which involves AGV, fuel cell, DC/DC converters motors, obtained. Then, particle swarm optimization (PSO)-based intelligent PID I controllers developed for route-tracking voltage-tracking converter reduced PSO used determine optimal parameters values converters’ components. The analyzed different paths. results show sufficient path-tracking obtained converters, respectively. average errors according global coordinate are 0.0061 m at x axis, 0.0572 y axis 0.0228 rad rotational axis. each approximately 0.8033 V. These indicate coefficients successfully small voltage errors. During motion, consumed from cell observed as 58.2675 W. designed have route tracking.