基于遗传算法的自动引导车自适应变结构控制

Automated Guided Vehicle Self-adaptive Variable Structure Control Based on Genetic Algorithm

为了提高自动引导车控制的精度,提出了一种基于遗传算法的变结构控制方法。利用遗传算法在线调整变结构控制律中的参数,克服了常规变结构控制方法中需预先设定趋近律参数的限制,既保留了传统趋近律的优点,又有效改善了系统的控制品质,使系统最终以理想方式在滑模面上运动。试验表明直线跟踪误差为±0.02 m,曲线跟踪误差为±0.03m,没有出现抖振现象。

In order to advance automated guided vehicle（AGV） control, a variable structure AGV control method based on genetic algorithm （GA） was proposed. Parameters, which were determined previously in the conventional reaching law, were regulated adaptively by GA. It is shown that all advantages of conventional reaching law are retained, meanwhile the control features of the control system are improved effectively. System can move perfectly on the sliding-mode surface. Theoretic analysis and experiment results prove the validity of the method.