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基于卡爾曼濾波的自動(dòng)引導(dǎo)車串級(jí)軌跡跟蹤控制
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“十一五”國家科技支撐計(jì)劃資助項(xiàng)目(2006036003131);國家“863”高技術(shù)研究發(fā)展計(jì)劃資助項(xiàng)目(2006AA11A109)


Cascade Tracking Control for AGV Based on Kalman Filter
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    摘要:

    針對(duì)三輪AGV具有不完整約束特性的運(yùn)動(dòng)學(xué)模型,，提出一種串級(jí)軌跡跟蹤算法,，把模型轉(zhuǎn)換為兩個(gè)非線性時(shí)變系統(tǒng)，通過運(yùn)用串級(jí)控制及狀態(tài)微分反饋控制實(shí)現(xiàn)系統(tǒng)全局漸進(jìn)穩(wěn)定,，最后再利用卡爾曼濾波算法對(duì)帶有噪聲干擾的狀態(tài)進(jìn)行估計(jì),，提高AGV自定位精度,，從而進(jìn)一步提高該控制器的輸出精度。該控制策略具有一般性，對(duì)所有AGV及其他輪式移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)模型都適用,，且設(shè)計(jì)方法簡(jiǎn)單,、魯棒性強(qiáng)。計(jì)算機(jī)仿真結(jié)果表明,，該系統(tǒng)能在較短時(shí)間內(nèi)實(shí)現(xiàn)全局漸進(jìn)穩(wěn)定,，驗(yàn)證了該控制策略的有效性。

    Abstract:

    Aimed at the trajectory tracking control problem for the kinematics model of three-wheeled AGV with nonholonomic constraint, a cascade tracking control algorithm was proposed. The algorithm broke the system down into two nonlinear time-varying systems and finally realized the global asymptotic stability of the control system using cascade control method and state derivative feedback control method. Furthermore, the noise problem of state estimation was solved successfully by using a Kalman filter, which improved the localization precision and enhanced the control effectiveness. The designed control algorithm is of strong robustness and generality for kinematics model of other wheeled mobile robots. Computer simulation results showed that the system can be stable in a short time which verifies its effectiveness. 

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尹曉紅,趙韓,吳焱明,熊丹.基于卡爾曼濾波的自動(dòng)引導(dǎo)車串級(jí)軌跡跟蹤控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2010,41(2):180-184. Yin Xiaohong, Zhao Han, Wu Yanming, Xiong Dan. Cascade Tracking Control for AGV Based on Kalman Filter[J]. Transactions of the Chinese Society for Agricultural Machinery,2010,41(2):180-184.

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