Design of Trajectory Tracking Controller for Four Wheel Mobile Robot Based on Lyapunov Direct Method

摘要

With the acceleration of economic globalization and the development of world trade, the increase in the size of ships and the increase in labor costs have made the automation and unmanned operation of carrier vehicles an inevitable trend in the industry, have also aroused widespread concern in the academic community. This paper studies the trajectory tracking control problem of AGV, constructs the front-wheel steering and rear-wheel-drive AGV kinematics model, and uses Lyapunov's second rule to ensure the stability of the system. Nonholonomic Constrained Trajectory Tracking Controller of an Automated Guided Vehicle. Using solid prototype parameters as a reference, simulation experiments are performed on the reference trajectories composed of straight lines and arcs. The experiment results show that the controller built in this paper has good convergence characteristics such as fast convergence speed and small tracking error, and it has good engineering application prospects.