摘要
AGV运动模型是一种非线性系统,传统控制方法难以完成AGV轨迹准确跟踪的任务要求,鉴于此提出了一种自适应模糊控制方法。该方法通过判断AGV的位姿误差来控制模糊控制器的输出,实时调整基于李雅普洛夫稳定性设计的速度控制器的比例因子。运用Matlab对所设计的控制系统进行仿真,结果表明,AGV能有效跟踪任意合理的参考轨迹,具有良好的控制性能。
Because AGV motion model is a nonlinear system, and traditional control methods are incompetent for accurate AGV trajectory tracking, an adaptive fuzzy control method is proposed in the paper. This method enables people to control the output of the fuzzy controller according to pose errors of AGV, and adjust scale factors of speed controller designed based on Lyapunov＇s stability theory in real time. Matlab is used to simulate the designed control system. The results indicate that AGV can effectively track any reasonable reference trajectory with good control performance.
出处
《起重运输机械》
2017年第7期19-22,共4页
Hoisting and Conveying Machinery
关键词
非线性系统
模糊控制
自适应
轨迹跟踪
nonlinear system
fuzzy control
adaptive
trajectory tracking
