Trajectory tracking control of AGV based on time-varying state feedback-Reference-Cited by-同舟云学术

Trajectory tracking control of AGV based on time-varying state feedback

Published:2021-08-03 Issue:1 Volume:2021 Page:
ISSN:1687-1499
Container-title:EURASIP Journal on Wireless Communications and Networking
language:en
Short-container-title:J Wireless Com Network

Author:

Shang Jin,Zhang Jian^ORCID,Li Chengchun

Abstract

AbstractIn order to realize the automation of transport equipment, according to the automatic guided vehicle (AGV) kinematics model, the trajectory tracking control of AGV with front wheel steering and rear wheel drive is studied. Lyapunov function is used to ensure the global stability of the system. Time-varying state feedback method based on integral backstepping is adopted, introducing virtual feedback, a trajectory tracking controller for AGV with nonholonomic constraints is proposed. In order to ensure the smooth motion of AGV, the speed and acceleration limited strategy of AGV is introduced into the controller. Simulation results show that the algorithm is fast, accurate and globally stable for different paths.

Funder

Research Funds of Wuxi Institute of Technology

Publisher

Springer Science and Business Media LLC

Subject

Computer Networks and Communications,Computer Science Applications,Signal Processing

Link

https://link.springer.com/content/pdf/10.1186/s13638-021-02034-x.pdf

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