基于运动学模型的自动引导车轨迹跟踪控制
Automatic guided vehicle trajectory tracking control based on kinematics model
李红霖 1陈明 1侯卫钢 2桓守志 3范丽丽4
作者信息
- 1. 辽宁科技大学 电子与信息工程学院,辽宁 鞍山 114051
- 2. 鞍钢集团矿业设计研究院有限公司,辽宁 鞍山 114001
- 3. 辽宁华冶集团发展有限公司,辽宁 鞍山 114031
- 4. 鞍钢集团工程技术有限公司,辽宁 鞍山 114021
- 折叠
摘要
为了使自动引导车在行驶过程中更加精确稳定,本文研究其运行轨迹跟踪问题.针对自动引导车的运动学模型,建立位姿状态误差方程,并基于Lyapunov稳定理论,设计出一种简单有效的轨迹跟踪控制器.仿真结果表明,本文所设计的轨迹跟踪控制器不仅确保系统稳定,同时能够满足自动引导车在不同运行轨迹下的快速纠偏.
Abstract
To make the automatic guided vehicle more precise and stable during the driving process,its trajec-tory tracking problem is studied in this paper.Aiming at the Kinematics model of AGV,the error equation of its position and attitude state is established,and based on Lyapunov stability theory,a simple and effective tra-jectory tracking controller is designed.The MATLAB/Simulink simulation results show that the trajectory tracking controller designed in this paper not only ensures system stability but also meets the requirements of rapid deviation correction for autonomous guided vehicles under different operating trajectories.
关键词
自动引导车/运动学模型/轨迹跟踪Key words
automatic guided vehicle/kinematics model/trajectory tracking引用本文复制引用
出版年
2024
NETL
NSTL
万方数据