基于运动预测的路径跟踪最优控制研究_武星.pdfVIP

DOI ：10.13195/j.cd.2009.04.87.wux.018 第24 卷第4 期 控 制 与 决 策 2009 年4 月 Vol. 24 No . 4 Control and D ecision Apr. 2009 : 100 1-0920( 2009) 04-0565-05 1, 2 1, 2 武 星 , 楼佩煌 ( 1. , 2100 16; 2. , 2100 16) : 针对自动导引车的路径跟踪, 提出一种基于运动预测的线性二次型 节器优化模型. 在速度约束下, 从全局 角度通过运动预测达到多步控制的最优协 性. 在目标函数中只包含速度控制量, 避免了加权矩阵选择的难题, 算法 的快速性由控制步数的最小化来保证. 数字仿真和实验均表明, 对于不同速度和路径偏差, 该算法均能产生可实现的 最优控制序列, 同步快速和平稳地消除两种偏差, 且计算量小, 可满足嵌入式控制系统实时滚动优化的需求. : 路径跟踪; 最优控制; 预测控制; 自动导引车 : TP242. 6 : A Optimal path tracking control based on motion prediction 1, 2 1, 2 WU X ing , LOU Pei-huang ( 1. Coll g of M chanical and El ctric, Nanjing Univ rsity of A ronautics and A stronautics, Nanjing 2100 16, China; 2. Jiangsu K y Laboratory of Pr cision and Micro-manufacturing T chnology , Nanjing 210016, China. Corr spond nt: W U Xing , E-mail: w ustar5353@ nuaa. du. cn) Abstract: An optimal control of lin ar quadratic r gulator ( LQR) bas d on motion pr diction is pr s nt d for path tracking of an automat d guid d v hicl . Th optimal harmony among multist p control is achi v d by motion pr diction in a global vi w und r v locity constraints. A s l ction of w ight d mat rix is avoid d w h n a obj ctiv function includ s only on it m of sp d diff r nc output. Th high ff ctivity of th algorithm to corr ct rrors is nsur d by minimization of cont rol st ps. Th r sults of num rical simulations and t st s on an actual AGV both d monstrat that a r alizabl optimal control s qu nc is obtain d to liminat two path rrors synchronously , quickly and smoothly on diff r nt conditions of path rrors and v lociti s. Furth rmor , this algorithm can w ll satisfy th d mand on r altim rolling optimiza