不确定非完整AGV的自适应反演滑模控制  

Adaptive Backstepping Sliding Mode Control of Uncertain Nonholonomic AGV

作　　者：叶锦华[1] 李迪[1] 叶峰[1] 赖乙宗[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2011年第12期32-37,43,共7页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家"863"计划项目(2009AA04Z111);国家自然科学基金资助项目(50875090;50905063)

摘　　要：提出了一种(2,0)型受非完整约束的自动导向车(AGV)的轨迹跟踪控制方案.该方案针对AGV复杂非线性动力学系统,应用输入-输出非线性反馈控制进行线性化,针对AGV的模型参数不确定性和外部未知干扰,结合从执行器输出的总体不确定动力学模型,采用基于李亚普诺夫方法设计的自适应反演滑模控制器进行伺服补偿,保证系统稳定和渐近收敛.仿真结果表明,该方案可以有效地削弱滑模控制的抖振现象,并消除模型不确定性和外部干扰对系统的影响,保证AGV快速、精确地跟踪期望轨迹.Proposed in this paper is a trajectory tracking control scheme of(2,0)-type nonholonomic AGV(Automated Guided Vehicle).In this scheme,the complex nonlinear dynamic system of AGV is taken into consideration,and the standard input-output nonlinear feedback control is employed to linearize the system.Moreover,in order to overcome the model parameter uncertainty and external unknown disturbances of the AGV,a general uncertain dynamic model of AGV with the output from the actuator is established,and a position servo compensation using an adaptive backstepping sliding mode controller based on the Lyapunov stability theorem is implemented,which ensures the stability and asymptotic convergence of the system.Simulated results show that the proposed scheme not only weakens the chattering during the sliding mode control but also eliminates the impacts of model uncertainty and external disturbances on the system,so that it helps to track the desired trajectory for AGV rapialy and accurately.

关 键 词：自动导向车 不确定系统 轨迹跟踪 自适应反演滑模控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]