Iterative Learning Control for AGV Drive Motor Based on Linear Extended State Observer

Abstract

In order to solve the problems of repetitive and non-repetitive interference in the workflow of Automated Guided Vehicle (AGV), Iterative Learning Control (ILC) combined with linear extended state observer (LESO) is utilized to improve the control accuracy of AGV drive motor. Considering the working conditions of AGV, the load characteristics of the drive motor are analyzed with which the mathematical model of motor system is established. Then the third-order extended state space equations of the system approximate model is obtained, in which LESO is designed to estimate the system states and the total disturbance. For the repeatability of AGV workflow, ILC is designed to improve the control accuracy. As the goods mass transported each time is not same, the LESO is utilized to estimate the non-repetitive load disturbance in real time and compensate the disturbance of the system to improve the position precision. The convergence of the combined algorithm is also verified. Simulation and experimental results show that the proposed iterative learning control strategy based on LESO can reduce the positioning error in AGV workflow and improve the system performance.