基于Lyapunov第二方法的自动导引车轨迹跟踪控制器设计与仿真

Design and simulation of trajectory tracking controller for automated guided vehicles based on Lyapunov’s second method

为实现港口运载设备的自动化,研究港口用自动导引车(automated guided vehicle, AGV)的轨迹跟踪控制问题。构建前轮转向、后轮驱动的AGV运动学模型,运用Lyapunov第二方法保证系统稳定。设计一种受非完整约束的AGV轨迹跟踪控制器。采用真实的AGV样车参数,对直线和圆弧轨迹跟踪进行仿真。仿真结果表明该控制器具有收敛速度快、跟踪误差小等特性。

In order to realize the automation of carrier vehicles for ports, the trajectory tracking control of automated guided vehicles (AGVs) for ports is studied. The AGV kinematics model of front-wheel steering and rear-wheel drive is constructed, and the system stability is guaranteed by Lyapunov’s second method. A trajectory tracking controller for AGVs with nonholonomic constraints is designed. Tracking trajectories composed of straight lines and arcs are simulated using parameters of AGV solid prototype. The simulation results show that the controller has the characteristics of fast convergence and low tracking error.