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


Cascade Tracking Control for AGV Based on Kalman Filter
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    摘要:

    針對三輪AGV具有不完整約束特性的運動學模型，提出一種串級軌跡跟蹤算法，把模型轉(zhuǎn)換為兩個非線性時變系統(tǒng)，通過運用串級控制及狀態(tài)微分反饋控制實現(xiàn)系統(tǒng)全局漸進穩(wěn)定，最后再利用卡爾曼濾波算法對帶有噪聲干擾的狀態(tài)進行估計，提高AGV自定位精度，從而進一步提高該控制器的輸出精度。該控制策略具有一般性，對所有AGV及其他輪式移動機器人的運動學模型都適用，且設(shè)計方法簡單、魯棒性強。計算機仿真結(jié)果表明，該系統(tǒng)能在較短時間內(nèi)實現(xiàn)全局漸進穩(wěn)定，驗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引導車串級軌跡跟蹤控制[J].農(nóng)業(yè)機械學報,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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