不确定非完整AGV的滑模路径跟随控制

Sliding Mode Path Following Control for Uncertain Nonholonomic AGV

在Serret-Frenet坐标系框架下建立了不确定非完整AGV的全局路径跟随模型,基于滑模控制法,提出了一种可以抵御系统不确定性的AGV鲁棒路径跟随控制器。滑模控制通过指数趋近律来减小抖振所产生的影响,设计过程基于Lyapunov直接法,可使闭环系统渐进稳定。仿真实验表明,所设计的控制器系统运行平稳,控制精度较高,实用性较高。

Under the framework of Serret-Frenet coordinate system,the global path following model of uncertain nonholonomic AGV is established.Based on sliding mode control method,a robust path following controller for AGV that can resist system uncertainty is proposed.The sliding mode control reduces the influence of chattering through exponential approach law.The design process is based on Lyapunov direct method to make the closed-loop system asymptotically stable.The controller system designed in this simulation experiment runs smoothly,has high control accuracy and high practicability.