标题：Trajectory Tracking Control for Double-steering Automated Guided Vehicle Based on Model Predictive Control
作者：Qi, Jiahui ;Wu, Yaohua
作者机构：[Qi, Jiahui ;Wu, Yaohua ] Department of Control Science and Engineering, Shandong University, Ji'nan, Shandong; 250061, China
会议名称：2019 2nd International Symposium on Power Electronics and Control Engineering, ISPECE 2019
会议日期：22 November 2019 through 24 November 2019
来源：Journal of Physics: Conference Series
摘要：In order to solve the trajectory tracking control problem of double-steering automated guided vehicle (AGV), considering various constraints in practical work, a trajectory tracking controller based on model predictive control is designed. Firstly, the kinematic model of double-steering AGV is established. Then, a trajectory tracking model based on model predictive control is designed to achieve fast and accurate tracking performance. Finally, the influence of the predicted time-domain length on the system performance is analyzed by simulation, and the simulation experiment is compared with that of the AGV based on the proportional integral differential trajectory tracking controller. The experiment result shows that the model predictive controller can meet all kinds of constraints in actual work, and complete the tracking of the continuous high curvature target path efficiently and accurately in real-time with high robustness. © Published under licence by IOP Publishing Ltd.