麦克纳姆轮AGV运动轨迹控制研究  

A study on McNamee wheel AGV motion trajectory control

作　　者：马琳涵 张慧[1] 周健 柳凯 周志国 卢仕杰 MA Linhan;ZHANG Hui;ZHOU Jian;LIU Kai;ZHOU Zhiguo;LU Shijie(School of Information and Automation Engineering,Qilu University of Technology(Shandong Academy of Sciences),Jinan 250300,China)

机构地区：[1]齐鲁工业大学(山东省科学院)信息与自动化学院,山东济南250300

出　　处：《齐鲁工业大学学报》2024年第3期24-33,共10页Journal of Qilu University of Technology

基　　金：齐鲁工业大学(山东省科学院)校(院)地产学研协同创新基金项目(2020-CXY26)。

摘　　要：随着现代智能化和自动化的快速发展,移动自动引导车辆(AGV)开始担任重要角色。致力于研究麦克纳姆轮AGV的轨迹跟踪控制方法,采用自适应滑模控制以提高其在自动化物流和制造领域的应用性能。首先,在考虑外部干扰的情况下,对麦克纳姆轮AGV进行数学建模,建立其运动学模型和动力学模型。其次,在动力学模型的基础上设计一种自适应滑模轨迹跟踪控制器,该方法通过引入滑模面来实现对系统状态的控制,利用Lyapunov理论分析该控制方法的稳定性。最后,通过matlab仿真实验验证该控制器提高了AGV的轨迹精度以及有效性。With the rapid development of modern intelligence and automation,mobile AGVs are beginning to play an important role.This paper is devoted to the study of trajectory tracking control method of McNamee wheel AGV(Automated Guided Vehicle),which adopts adaptive sliding mode control in order to improve the performance of its application in the field of automated logistics and manufacturing.Firstly,the McNamee wheel AGV is mathematically modelled to establish its kinematic and dynamic models while considering external disturbances.Secondly,an adaptive sliding mode trajectory tracking controller is designed on the basis of the dynamics model,which realizes the control of the system state by introducing the sliding mode surface,and then the stability of the control method is analyzed by using Lyapunov theory.Finally,the controller is verified through matlab simulation experiments to improve the trajectory accuracy as well as the effectiveness of the AGV.

关 键 词：自适应滑模控制 麦克纳姆轮AGV LYAPUNOV理论 轨迹跟踪 精度 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]