摘要
为了提高自动引导车控制的精度,提出了一种基于遗传算法的变结构控制方法。利用遗传算法在线调整变结构控制律中的参数,克服了常规变结构控制方法中需预先设定趋近律参数的限制,既保留了传统趋近律的优点,又有效改善了系统的控制品质,使系统最终以理想方式在滑模面上运动。试验表明直线跟踪误差为±0.02 m,曲线跟踪误差为±0.03m,没有出现抖振现象。
In order to advance automated guided vehicle（AGV） control, a variable structure AGV control method based on genetic algorithm （GA） was proposed. Parameters, which were determined previously in the conventional reaching law, were regulated adaptively by GA. It is shown that all advantages of conventional reaching law are retained, meanwhile the control features of the control system are improved effectively. System can move perfectly on the sliding-mode surface. Theoretic analysis and experiment results prove the validity of the method.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第7期114-118,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
江苏大学现代农业装备与技术国家重点实验室培育点开放基金资助项目(项目编号:NZ200606)
安徽省教育厅自然科学研究项目(项目编号:KJ2007B080)
清华大学汽车安全与节能国家重点实验室开放基金资助项目(项目编号:KF2007-06)
关键词
自动引导车
变结构控制
离散趋近律
遗传算法
自适应
Automated guided vehicle, Variable structure control, Discrete reaching law,Genetic algorithm, Self-adapting
