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标题：Optimal Trajectory Tracking Control for Automated Guided Vehicles * * The authors would like to acknowledge the support of 2getthere B.V., 3543 AE Utrecht, the Netherlands for this research work
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作者：Amritam Das ; Yanin Kasemsinsup ; Siep Weiland 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：303-308
DOI：10.1016/j.ifacol.2017.08.050
语种：English
出版社：Elsevier
摘要：AbstractThis work presents a control strategy for the trajectory tracking problem of an Automated Guided Vehicle (AGV). In contrast to the current methods, this design strategy remains invariant and flexible to arbitrary number of wheels. A three-stage cascade control strategy is proposed in which the control design for the vehicle chassis is separated from the wheel-tire modules. For a given vehicle reference trajectory, the outer controller determines the required forces and moment inputs to the vehicle chassis in a time-receding fashion. At the second stage, the required forces and moment inputs are optimally allocated for each wheel and tire. At each wheel-tire module, a nonlinear controller is used to determine the actual control input for the wheel actuators. The performance of the presented control strategy is illustrated through simulation results with a realistic driving scenario for a six-wheeled vehicle. We demonstrate that the proposed controller architecture is configurable for an arbitrary number of wheels and capable of handling large steering angles efficiently.
关键词：KeywordsTrajectory TrackingPath FollowingDecentralized ControlSystemsAutonomous VehiclesMotion control