Research on Lateral Trajectory Tracking of Four-wheel Drive AGV
Track tracking control is an important part of automated guided vehicle(AGV).In order to improve the rapidity and stability of trajectory tracking,a two degree of freedom dynamic equation of AGV is established according to Newton Euler equation,and an error model is established accordingly.A linear time-varying model predictive control algorithm based on AGV dynamic model is designed,and an optimization function with state increment and control increment as variables is established.The constraints of state quantity,control quantity and control increment as well as soft constraint dynamics are added.The simulation results verify the effectiveness of the controller.
automated guided vehicletrajectory tracking controlmodel predictive control
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