摘要
提出了一种跟踪控制效果好、适应性广的自动引导车跟踪方法。以自动引导车的动力学模型作为系统的被控对象 ,通过回归算法对系统以前的输入和输出跟踪误差信号进行运算来反复调整输入量 ,使得系统在经过一定次数的迭代以后 ,其实际输出趋于期望输出。仿真与试验结果均表明 ,装有此系统的自动引导车能够很好地跟踪给定的路径 ,验证了所提方法的正确性和有效性。
In this paper a novel track control method is presented which has a good control effect and extensive adaptability for an automatic guided vehicle (AGV). With the use of dynamic model of an AGV, the control input can be adjusted repeatedly according to the input and output tracking error signal of the previous operation until perfect tracking results are achieved. Simulations and experiments illustrate the correctness and effectiveness of the proposed method.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2005年第1期5-9,共5页
Transactions of the Chinese Society for Agricultural Machinery
