摘要
以物流搬运自动导向车AGV的轨迹跟踪为研究目标。建立了三轮式AGV的运动学模型,并对其运动特性进行了分析,提出了AGV的运动控制策略,获得了AGV轨迹跟踪的控制规律,并利用Lyapunov函数验证了控制系统的渐近稳定性。以具有任意初始误差的圆和直线为参考轨迹,应用Matlab/Simulink对控制系统进行了仿真研究。仿真结果验证了控制策略的有效性和正确性。
Trajectory tracking control of logistics AGV is the research target. Kinematics model of the tricycle AGV is built and motion characteristics of the system are analyzed,the kinematics control scheme is presented and the trajectory tracking control rule is gained, and verified the stability of the control system by the Lyapunov theory. A simulation research about tracking a straight line and a circle with arbitrary initial tracking errors has been done with applying M atlab/Simulink. Simulation results show the effectiveness and precise of the proposed control scheme.
出处
《组合机床与自动化加工技术》
2008年第6期72-74,共3页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
物流
AGV
轨迹跟踪
logistics
AGV, trajectory tracking
