摘要
介绍了自动导引小车AGV的跟踪控制技术的研究现状;建立了AGV跟踪误差系统运动学和动力学的混合模型;针对AGV的初始位存在误差或给定轨迹不连续时,传统PID轨迹跟踪控制器会使其初始速度产生一个较大跳变的问题,将滑模变结构控制技术与自适应模糊控制技术相结合,提出了一种基于模糊滑模的AGV自适应模糊路径跟随和轨迹跟踪控制器。仿真和实验结果表明,给出的自适应模糊滑模控制器不仅有较好的轨迹跟踪控制效果,而且具有较强的鲁棒性。
The present research situations of the tracking control technology for the automatic guided vehicle（AGV） are firstly introduced in this paper.The hybrid model of the kinematics and dynamics of tracking error in AGV system is then established.A larger initial velocity jump can be made using the traditional PID trajectory tracking controller when the initial position error exists,or the reference trajectory is discontinuous for AGV.Aimed at the above problem,the sliding mode variable structure control technology is combined with the adaptive fuzzy control technologies in this paper to put forward the adaptive fuzzy sliding mode controller of the path following and the trajectory tracking for AGV.Simulation and experimental results show that proposed the adaptive fuzzy sliding mode controller not only has good effects of the trajectory tracking control,but also enjoys strong robustness.
出处
《昆明理工大学学报（自然科学版）》
CAS
北大核心
2012年第5期35-42,共8页
Journal of Kunming University of Science and Technology(Natural Science)
基金
云南省自然科学基金(2003F0029M)
关键词
自动导引小车
轨迹跟踪
自适应模糊控制
滑模控制
automatic guided vehicle
trajectory tracking
adaptive fuzzy control
sliding mode control
