| 基于自适应模糊控制的AGV轨迹跟踪系统 |
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| 引用本文： | 陈一凡.基于自适应模糊控制的AGV轨迹跟踪系统[J].汽车实用技术,2021(2):22-24. |
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| 作者姓名： | 陈一凡 |
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| 作者单位： | 长安大学汽车学院 |
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| 摘 要： | 针对传统控制方式难以准确完成AGV轨迹跟踪任务这一问题,提出一种基于自适应模糊控制的轨迹跟踪方法.首先建立AGV的运动学模型,并基于李雅普诺夫第二法设计控制律.其次,以期望轨迹与实际轨迹的位姿偏差作为输入,以控制律中的比例因子作为输出,设计自适应模糊控制器.最后,使用Matlab/Simulink对设计的控制系统进行仿...
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| 关 键 词： | AGV 模糊控制 轨迹跟踪 位姿偏差 |
AGV Trajectory Tracking System Based on Adaptive Fuzzy Control |
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| Authors: | Chen Yifan |
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| Institution: | (School of Automobile,Chang’an University,Shaanxi Xi’an 710064) |
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| Abstract: | Aiming at the problem that the traditional control method is difficult to complete the AGV car trajectory tracking task accurately,a trajectory tracking method based on adaptive fuzzy control is proposed.First,the kinematics model of AGV car is established,and the control law based on Lyapunov's second method is designed.Secondly,an adaptive fuzzy controller is designed by taking the deviation of the expected trajectory from the actual trajectory as input and the scale factor in the control law as output.Finally,Matlab/Simulink is used to simulate the designed control system.The simulation results show that the fuzzy controller can track a reasonable reference trajectory quickly and stably. |
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| Keywords: | AGV Fuzzy control Trajectory tracking Pose deviation |
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