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W2897084941 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." @default.
W2897084941 created "2018-10-26" @default.
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W2897084941 date "2018-09-01" @default.
W2897084941 modified "2023-09-30" @default.
W2897084941 title "Research on AGV trajectory tracking control based on double closed-loop and PID control" @default.
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W2897084941 doi "https://doi.org/10.1088/1742-6596/1074/1/012136" @default.
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