| AGV路径模糊─变结构滑模─模型参考协调控制 |
| |
| 引用本文： | 许辅义．刘中仁.AGV路径模糊─变结构滑模─模型参考协调控制[J].控制与决策,1995(5). |
| |
| 作者姓名： | 许辅义．刘中仁 |
| |
| 作者单位： | 清华大学机械工程系，清华大学自动化系 |
| |
| 摘 要： | 针对自动导向车（ＡＧＶ）的路径跟踪，提出一种新的模型参考－模糊变结构滑模－ＰＩ组合跟踪控制方案。该方案将ＡＧＶ设计成左右轮行走距离跟踪系统，并引进参考模型，组合了模糊控制和变结构滑模控制以及比例加积分（ＰＩ）控制。模糊变结构滑模控制提供了跟踪的快速性和稳定性，ＰＩ控制则消除稳态抖动，提高了稳态精度。仿真及实测结果表明，这种新的设计方案能达到较高的跟踪精度。
|
| 关 键 词： | 自动导向车，模糊控制，变结构滑模控制 |
A Fuzzy-Variable Structure Sliding Mode-Model Reference Coordinated Control for Automated Guided Vehicle (AGV) Path Tracking |
| |
| Xu Fuyi, Liu Zhongren.A Fuzzy-Variable Structure Sliding Mode-Model Reference Coordinated Control for Automated Guided Vehicle (AGV) Path Tracking[J].Control and Decision,1995(5). |
| |
| Authors: | Xu Fuyi Liu Zhongren |
| |
| Affiliation: | Tsinghua University |
| |
| Abstract: | In this paper, a new fuzzy variable structure coordinated control scheme for automated guided vehicle (AGV) path tracking is presented. AGV was designed as a system in which travelling distance of itsright wheel is tracked by that of its left wheel, and reference model, fuzzy control, variable structure slidingmodel, fuzzy control, variable structure sliding model control and proportional-plus -integral (PI) controlwere introduced. The fuzzy variable structure sliding model control provides rapidity and stability for tracking, while PI control eliminates steady-state vibration and improves steady-state accuracy. The results ofsimulation and actual measurment show that this kind of design could gain higher tracking accuracy. |
| |
| Keywords: | automated guided vehicle(AGV) fuzzy control variable structure sliding mode control |
| 本文献已被 CNKI 等数据库收录！ |
