Research on AGV trajectory tracking control based on double closed-loop and PID control

Abstract

Aimed at AGV motion model of two-wheeled differential drive control mode, AGV motion control is divided into double closed-loop trajectory tracking control based on Lyapunov direct method and sliding-mode control technology and speed control based on PID method through hierarchical control thought. Double closed-loop control technology researches trajectory tracking control problem of AGV under Cartesian coordinate system; PID control method researches real-time speed control problem of drive motor of AGV. Finally, circular trajectory tracking simulation test is made to AGV under Matlab/Simulink environment. Simulation result shows that system has correct positioning with fast dynamic response and good robustness, and verifies feasibility and effectiveness of scheme proposed.