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。
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.
作者
李红霖
陈明
侯卫钢
桓守志
范丽丽
LI Honglin;CHEN Ming;HOU Weigang;HUAN Shouzhi;FAN Lili(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China;Ansteel Mining Engineering Corporation,Anshan 114001,China;Liaoning Huaye Group Development Co.,LTD,Anshan 114031,China;Ansteel Engineering Technology Co.,LTD,Anshan 114021,China)
出处
《辽宁科技大学学报》
CAS
2024年第1期39-46,共8页
Journal of University of Science and Technology Liaoning
基金
国家自然科学基金资助项目(U21A20483)。
关键词
自动引导车
运动学模型
轨迹跟踪
automatic guided vehicle
kinematics model
trajectory tracking
