Trajectory tracking control of AGV based on time-varying state feedback

被引:0
作者
Jin Shang
Jian Zhang
Chengchun Li
机构
[1] Wuxi Institute of Technology,Control Technology Institute
[2] Wuxi Vocational College of Science and Technology,College of Artificial Intelligence
来源
EURASIP Journal on Wireless Communications and Networking | / 2021卷
关键词
Automatic guided vehicle; Trajectory tracking; Integral back stepping; Wireless communications;
D O I
暂无
中图分类号
学科分类号
摘要
In order to realize the automation of transport equipment, according to the automatic guided vehicle (AGV) kinematics model, the trajectory tracking control of AGV with front wheel steering and rear wheel drive is studied. Lyapunov function is used to ensure the global stability of the system. Time-varying state feedback method based on integral backstepping is adopted, introducing virtual feedback, a trajectory tracking controller for AGV with nonholonomic constraints is proposed. In order to ensure the smooth motion of AGV, the speed and acceleration limited strategy of AGV is introduced into the controller. Simulation results show that the algorithm is fast, accurate and globally stable for different paths.
引用
收藏
相关论文
共 84 条
  • [1] Luo Z(2017)AGV rectifying method based on optimal deviation path Chin J Sci Instrum 38 853-860
  • [2] Tang YQ(2014)Design and implementation of magnetic navigation AGV control system Autom. Instrum. 29 6-10
  • [3] Li D(2016)Backstepping approach for autonomous mobile robot trajectory tracking Indones. J. Electr. Eng. Comput. Sci. 2 478-485
  • [4] Wang LJ(2015)Small agricultural machinery path intelligent tracking control based on fuzzy immune PID Robot 37 212-223
  • [5] Zheng BK(2015)Trajectory generation and tracking control for double-steering tractor-trailer mobile robots with on-axle hitching IEEE Trans. Ind. Electron. 62 7665-7677
  • [6] Lai YZ(2016)Trajector tracking and fault detection algorithm for automatic guided vehicle based on multiple positioning modules Int. J. Control Autom. Syst. 14 400-410
  • [7] Ye F(2010)Design of a sliding mode controller for an automatic guided vehicle and its implementation Int. J. Control Autom. Syst. 8 81-90
  • [8] Benaoumeur I(2015)Testing PID and MPC performance for mobile robot local path-following Int. J. Adv. Robot. Syst. 12 1-13
  • [9] Laredj B(2013)On a new sectionalized motion control strategy for automated guided vehicles: modeling and simulation validation Int. J. Adv. Manuf. Technol. 69 637-646
  • [10] Reda H(2019)Grid-connected Strategy of doubly fed induction generator based on model predictive control Sci. Technol. Eng. 19 113-119