A Novel Trajectory Tracking Control of AGV Based on Udwadia-Kalaba Approach

被引：11

作者：

Yu, Rongrong ^{[1
,2
]}

Zhao, Han ^{[1
]}

Zhen, Shengchao ^{[1
]}

Huang, Kang ^{[1
]}

Chen, Xianmin ^{[3
]}

Sun, Hao ^{[1
]}

Shao, Ke ^{[1
]}

机构：

[1] Hefei Univ Technol, Sch Mech Engn, Hefei 230009, Peoples R China

[2] Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao 266590, Peoples R China

[3] Univ Sci & Technol China, Hefei 230026, Peoples R China

来源：

IEEE-CAA JOURNAL OF AUTOMATICA SINICA | 2024年 / 11卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Mathematical model; Wheels; Mechanical systems; Force; Turning; Trajectory; FORM;

D O I：

10.1109/JAS.2016.7510139

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Dear Editor, This letter is about an automated guided vehicle (AGV) trajectory tracking control method based on Udwadia-Kalaba (U-K) approach. This method provides a novel, concise and explicit motion equation for constrained mechanical systems with holonomic and/or nonholonomic constraints as well as constraints that may be ideal or non-ideal. In this letter, constraints are classified into structural and performance constraints. The structural constraints are established without considering the trajectory control, and the dynamic model is built based on them. Then the expected trajectories are taken as the performance constraints, and the constraint torque is solved by analyzing the U-K equation. It is shown by numerical simulations that the proposed method can solve the trajectory tracking control problem of AGV well.

引用

页码：1069 / 1071

页数：3

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