A Novel Trajectory Tracking Control of AGV Based on Udwadia-Kalaba Approach

Abstract

Dear Editor, This letter is about an automated guided vehicle (AGV) trajectory tracking control method based on Udwadia-Kalaba (U-K) approach. This method provides a novel, concise and explicit motion equation for constrained mechanical systems with holonomic and/or nonholonomic constraints as well as constraints that may be ideal or non-ideal. In this letter, constraints are classified into structural and performance constraints. The structural constraints are established without considering the trajectory control, and the dynamic model is built based on them. Then the expected trajectories are taken as the performance constraints, and the constraint torque is solved by analyzing the U-K equation. It is shown by numerical simulations that the proposed method can solve the trajectory tracking control problem of AGV well.