基于参数模糊自整定的非完整AGV路径跟随控制  

Nonholonomic AGV path following control based on parameter fuzzy self-tuning

作　　者：杨素珍 沈碧华 YANG Su-zhen;SHEN Bi-hua(School of Mechanical Engineering,Zhangzhou Institute of Technology,Zhangzhou,Fujian 363000,China;Fujian Key Laboratory of Special Intelligent Equipment Safety Measurement and Control,Fuzhou,Fujian 350003,China)

机构地区：[1]漳州职业技术学院智能制造学院,福建漳州363000 [2]福建省特种智能装备安全与测控重点实验室,福建福州350003

出　　处：《宁德师范学院学报(自然科学版)》2025年第1期23-27,共5页Journal of Ningde Normal University(Natural Science)

基　　金：漳州职业技术学院校级科研课题(zzykyk240010);福建省中青年教师教育科研项目(JAT201276)。

摘　　要：自动导引车的工作环境日益复杂,对其运动性能提出了更高要求,为了解决非完整轮式自动导引车路径跟随控制器性能和实时性之间的矛盾,提出一种可进行控制参数自调节的自动导引车路径跟随控制器。在参考路径坐标系下构建自动导引车误差控制模型,引入一类基于Lyapunov理论的全局渐进稳定路径跟随控制器。该控制器结构简单,仅包含一个控制参数,建立模糊逻辑系统,对控制器参数进行在线自整定,提高控制器的鲁棒性。仿真实验结果表明,系统存在周期扰动时,控制器仍能够有效跟随路径曲线,控制参数实现了自适应调节,稳态误差小且控制输入变化平稳。The working environment of automated guided vehicle is becoming increasingly complex, which puts higher demands on the motion performance of automated guided vehicle. In order to solve the contradiction between the performance and real-time of the path following controller for non-integral wheeled automated guided vehicle, this paper proposes an automated guided vehicle path following controller that can self adjust control parameters. We construct an automated guided vehicle error control model in the reference path coordinate system and introduce a class of global gradually stable path following controllers based on Lyapunov theory. This controller has a simple structure and only contains one control parameter. Furthermore, a fuzzy logic system is established to perform online self-tuning of the controller parameters which has improved the robustness of the controller. The simulation experiment structure shows that even in the presence of periodic disturbances in the system, the controller still effectively follows the path curve, and the control parameters achieve adaptive adjustment. The steady-state error is small and the control input changes smoothly.

关 键 词：自动导引车 导引控制 路径跟随 参数自整定 模糊控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]