Tracking Control for AGV Based on Biologically Inspired Neural Dynamics

China Mechanical Engineering ›› 2010, Vol. 21 ›› Issue (18): 2148-2152.

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Tracking Control for AGV Based on Biologically Inspired Neural Dynamics

Yin Xiaohong;Zhao Han;Wu Yanming;Xiong Dan

Hefei University of Technology,Hefei,230009

Online:2010-09-25 Published:2010-09-28
Supported by:

The National Key Technology R&D Program（No. 2006036003131）;
National High-tech R&D Program of China (863 Program) （No. 2006AA11A109）

基于生物激励神经动力学的AGV轨迹跟踪控制

尹晓红;赵韩;吴焱明;熊丹

合肥工业大学,合肥,230009

基金资助:
国家“十一五”支撑计划资助项目(2006036003131)；国家高技术研究发展计划(863计划)资助项目(2006AA11A109)
The National Key Technology R&D Program（No. 2006036003131）;
National High-tech R&D Program of China (863 Program) （No. 2006AA11A109）

Abstract

Abstract:

In order to smoothly implement the trajectory tracking control of AGV under the situation of the speed jump,a tracking control algorithm was proposed,which was based on a gated dipole neural model and fast terminal sliding mode.First,an ideal control law was obtained from a kinematics controller;then use of neural dynamics solved the speed jump problem.Finally, a fast terminal sliding mode controller improved

the tracking accuracy furthermore. The outputs of the controller were bounded and smoothened, realizing the global asymptotic stability of the control system.Computer simulation results show its excellent quality. 

Key words:

automatic guided vehicle(AGV), neural dynamics, sliding mode control, backstepping technique, trajectory tracking

摘要：

提出了一种基于门限偶极子生物神经元模型和快速终端滑模控制策略的轨迹跟踪控制算法,使AGV在存在初始速度跳变的情况下能顺利实现小车的轨迹跟踪控制。首先由运动学控制器产生一个理想控制律,接着利用神经动力学思想解决初始速度跳变问题,最后用快速终端滑模控制器进一步提高跟踪精度。该控制器的输出有界且光滑,整个控制系统全局快速渐进稳定。计算机仿真结果验证了该控制器的有效性。

关键词:

AGV, 神经动力学, 滑模控制, 反演技术, 轨迹跟踪

CLC Number:

TP24

YIN Xiao-Gong, DIAO Han, TUN Yan-Meng, XIONG Dan.

Tracking Control for AGV Based on Biologically Inspired Neural Dynamics

[J]. China Mechanical Engineering, 2010, 21(18): 2148-2152.

尹晓红, 赵韩, 吴焱明, 熊丹.

基于生物激励神经动力学的AGV轨迹跟踪控制

[J]. 中国机械工程, 2010, 21(18): 2148-2152.

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Tracking Control for AGV Based on Biologically Inspired Neural Dynamics

基于生物激励神经动力学的AGV轨迹跟踪控制

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