Prescribed-time stabilisation control of differential driven automated guided vehicle

作     者：Qiyuan Chen Pengfei 

作者机构：Zhang School of EngineeringHuzhou UlniversityHuzhouZhejiangChina 

出 版 物：《IET Cyber-Systems and Robotics》 (智能系统与机器人（英文）)

年 卷 期：2023年第5卷第1期

页      面：143-153页

核心收录：

学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 0823[工学-交通运输工程] 

基　　金：supported by the Scientific Research Fund of the Zhejiang Provincial Education Department under Grants No.Y202146005 and No.Y202248462 the General Scientific Project of Huzhou University under Grant No.2021XJKJ04 the Huzhou University Scientific Research Innovation Project under Grant No.2022KYCX58,the Zhejiang Province New Young Talent Plan Project in 2022 under Grant No.2022R431B021 the Zhejiang Provincial Education Department General Research Project in 2022 under Grant No.Y202250212 

主　　题：Automated guided vehicle kinematic system position control prescribed-time stabilisation 

摘      要：The position control problem of differential-driven automated guided vehicles(AGVs)based on the prescribed-time control method is ***,an innovative orientation error function is proposed by an auxiliary arcsine function about the orientation ***,the problem of position control of AGV is transformed into the stabilisation control of the kinematic ***,by introducing a reserved time parameter and a smooth switching function,a novel time-varying scaling function is *** novel scaling function avoids the risk of infinite gain in the conventional prescribed-time control method while ensuring the smoothness of control ***,an improved velocity constraint function is proposed using the Gaussian *** with the existing constraint function,the proposed method not only has more smoothness but also solves the balance point errors caused by the large AGV orientation *** presented method ensures that the AGV reaches the target position in a prescribed ***,the upper bound of the AGV system state can be determined by adjusting *** simulation results show that the proposed controller can effectively make the AGV system state satisfy the prescribed bound.