基于滤波反演法的参数不确定自动引导车的运动控制  

Kinematic control algorithm for AGV with parameter uncertainties based on filtering backstepping

作　　者：崔明月[1,2] 孙棣华[1] 李永福[1] 廖孝勇[1] 

机构地区：[1]重庆大学自动化学院,重庆400044 [2]南阳师范学院物理与电子工程学院,河南南阳473061

出　　处：《控制与决策》2013年第8期1200-1206,共7页Control and Decision

基　　金：国家863计划项目(2006AA04A124);重庆市科技攻关计划项目(CSTC2011AB2052);重庆市自然科学基金项目(CSTC2012JJB40002)

摘　　要：针对参数不确定的自动引导车的运动控制问题,应用Backstepping方法改计自适应控制器,并运用Lyapunov稳定性理论与Barbalat定理证明了系统的稳定性;同时利用进化规划算法优化控制器参数,通过跟踪微分器对输入信号与虚拟控制信号进行滤波处理并提取微分信号,避免了对虚拟控制信号的解析求导,简化了控制器的设计过程.与传统PID控制的对比仿真结果表明,所提出的自适应控制策略能较好地补偿系统参数摄动的影响,提高了自动引导车的轨迹跟踪性能和鲁棒性.Based on the nolinear kinematic model of automatic guided vehicles, an adaptive Backstepping method is used to design a controller for the kinematic control of automatic guided vehicles with parameter uncertainties. The convergence of the tracking errors of automatic guided vehicles is proved by using the Lyapunov stability theory. The tracking differentiator is adopted to acquire the derivatives of virtual control and input signal without noise. Therefore, the Backstepping implementation is simplified significantly. Furthermore, the control parameters for adaptive controller are trained by evolutionary programming. Moreover, the simulation results show that the proposed method greatly compensates the effects of parameter perturbation and improves the system tracking accuracy and robustness in comparison with traditional PID control laws.

关 键 词：自动引导车 滤波反演控制 运动控制 参数不确定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]