基于模糊预测控制的救援AGV轨迹跟踪研究  

Trajectory Tracking of Rescue AGV Based on Fuzzy-Model Predictive Control

作　　者：舒静青 时伟[1] 汪宇阳 SHU Jing-qing;SHI Wei;WANG Yu-yang(School of Aeronautics and Astronautics,Central South University,Changsha Hunan 410083,China)

机构地区：[1]中南大学航空航天学院,湖南长沙410083

出　　处：《计算机仿真》2023年第6期474-479,527,共7页Computer Simulation

基　　金：国家自然科学基金资助项目(62003369);湖南省自然科学基金资助项目(2021JJ40784)。

摘　　要：针对救援自动导引车(AGV)的轨迹跟踪算法问题,设计了AGV小车的轨迹跟踪控制器,采用模糊控制与模型预测控制算法结合,以模型预测控制算法弥补模糊算法中控制精度不高、动态品质差等缺陷。对纯模糊控制和模糊-预测控制开展simulink仿真进行对比研究,结果表明,与纯模糊控制相比,模糊-预测控制能在存在初始误差条件下对任意合理的设定轨迹进行跟踪,且在过程中能快速有效消除位置误差和角度误差,提升轨迹跟踪的控制精度;同时减少误差收敛时间,提高动态跟踪效率,验证了模糊-预测算法具有更优的控制性能。Aiming at the trajectory tracking algorithm problem of rescue AGV,we designed a trajectory tracking controller for AGV.The fuzzy control was combined with model predictive control algorithm,and the model predictive control algorithm was used to improve the defects of the fuzzy algorithm,such as control precision and dynamic quality.To verify the trajectory tracking capabilities,the fuzzy controller was compared with a fuzzy-model predictive controller under the simulation experiment.simulation results show that fuzzy-model predictive control can effectively improve the control accuracy and speed of trajectory tracking.

关 键 词：模糊控制 模型预测控制 轨迹跟踪 模糊预测控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]