两轮差速AGV的轨迹跟踪控制研究 Study on Trajectory Tracking Control of Two-Wheel Difference Speed of AGV

本文针对AGV的轨迹跟踪控制问题，提出了一种Back-stepping的控制算法。首先，建立AGV的运动学模型和跟踪位姿误差模型；然后，利用Back-stepping方法将整个非线性系统进行分解成若干子系统，且对子系统分步构造Lyapunov函数和中间虚拟控制量，一直后退导出系统的控制律；最后，在MATLAB环境下分别进行了直线轨迹跟踪和圆轨迹跟踪的仿真实验，结果表明跟踪误差很快收敛于零，轨迹跟踪效果良好。Back-stepping方法结合Lyapunov理论设计的控制器，不仅能实现对AGV对参考轨迹全局渐进跟踪，还具有较高的精确性和鲁棒性。 In view of trajectory tracking control problem of AGV, a Back-stepping control algorithm is pro-posed. Firstly, the AGV kinematics model and tracking pose error model are established; Then, the whole nonlinear system is decomposed into several sub-systems by using Back-stepping method, and the Lyapunov function and the intermediate virtual control are constructed and has been back to export control law of system step by step. Finally, the simulation experiment of line tracking and circular tracking was carried out in MATLAB environment. The results show that the tracking error converges to zero quickly, and trajectory tracking effect is wonderful. Back-stepping method combined with Lyapunov theory design the controller, not only can achieve AGV on the reference trajectory global asymptotic tracking, but also has high accuracy and robustness.