基于模型预测的自动导引车区间轨迹跟踪控制
Interval trajectory tracking of automatic guided vehicles via model predictive control method
摘要点击 62  全文点击 66  投稿时间:2018-10-10  修订日期:2019-03-28
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DOI编号  10.7641/CTA.2019.80772
  2020,37(1):23-30
中文关键词  模型预测控制  AGV  跟踪控制
英文关键词  model prediction control  AGV  path tracking
基金项目  国家自然科学基金,其它
学科分类代码  510.8010
作者单位E-mail
徐航 上海海事大学 1305137795@qq.com 
张依恋 上海海事大学 zyl1030@126.com 
朱瑾 上海海事大学  
范勤勤 上海海事大学  
中文摘要
      根据AGV轨迹跟踪问题,在确定其可行驶区域的基础上,本文设计了一种基于模型预测控制理论的轨迹 跟踪控制方法。首先,将车辆运动学模型进行线性化处理,得到车辆动力学线性模型;其次,运用模型预测控制 方法,利用预测路径与期望路径之间的误差,通过优化得到使性能指标最优的控制序列;最后,在Matlab软件上 对轨迹跟踪控制器进行仿真。实验结果表明,AGV可以稳定地跟踪参考轨迹,且距离偏差和角度偏差都在给定 的可行范围内,证明了提出的基于模型预测控制的轨迹跟踪算法具有良好的跟踪性能。
英文摘要
      This paper considers a trajectory tracking control method based on the model predictive control theory for the AGV with known regional boundary. Firstly, the vehicle kinematics model is linearized to obtain the vehicle dynamics linear model. Secondly, the model predictive control method is used, and the error between the predicted path and the expected path is utilized to obtain the control sequence that minimizes the performance index. Finally, the trajectory tracking controller is simulated on the Matlab software. The experimental results show that the AGV can track the reference trajectory stably, and the distance deviation and angular deviation are within the given feasible considered range.It is proved that the proposed trajectory tracking algorithm based on model predictive control has good tracking performance.