基于快速平稳幂次趋近律AGV滑模轨迹跟踪控制研究

AGV Sliding Mode Trajectory Tracking Control Based on Fast Stationary Power Reaching Law

针对应用于地下车库的自动导引车(automated guided vehicle,AGV)轮式泊车机器人轨迹跟踪过程中的位置偏差和姿态偏差问题,提出了一种快速平稳幂次趋近律的滑模轨迹跟踪控制方法。首先,在泊车机器人坐标系下建立运动学模型,通过全局坐标系与机器人坐标系之间的转换关系,得到泊车机器人在全局坐标系下的运动学模型;然后采用Lyapunov直接法设计滑模切换函数,采取快速平稳幂次趋近律的方法使泊车AGV从偏差状态快速到达滑模切换面,使AGV泊车机器人快速平稳地跟踪给定参考轨迹。最后,通过MATLAB进行仿真试验,仿真结果验证了所提方法的可行性与有效性。

A sliding mode trajectory tracking control with fast stationary power reaching law was proposed to address the problem of position and attitude deviation in the trajectory tracking process of automated guided vehicle(AGV)wheeled parking robots applied in underground garages.First,a kinematic model was established under the coordinate system of the parking robot,and the kinematic model of the parking robot under the global coordinate system was obtained through the transformation relationship between the global coordinate system and the robot coordinate system.Then,the Lyapunov direct method was used to design the sliding mode switching function,and a fast stationary power reaching law was adopted to quickly reach the sliding mode switching surface of the parking AGV from the deviation state,enabling the AGV parking robot to quickly and stably track the given reference trajectory.Finally,simulation experiments were conducted using MATLAB,and the simulation results verified the feasibility and effectiveness of the proposed method.