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Research on Lyapunov-based Predictive Path Following Control of AGV Based on Time Constraint

Shaobo Zhang, Qinxiang Xia*, Sizhu Cheng, Mingxing Chen, and Gangfeng Xiao
International Journal of Control, Automation, and Systems, vol. 20, no. 12, pp.4005-4014, 2022

Abstract : Automated Guided Vehicles (AGV) usually takes on the responsibility of material transmission in industrial applications with a wireless computer-controlled differential driving. A Lyapunov-based model predictive control method is proposed for the AGV path following problem with considering the time constraint. The time constraint problem of path following is introduced for industrial scheduling fields, and the reference path is discretized and virtually constructed by the quadratic programming method based on the double integrator technique. The stabilization point control theorem is migrated to solve the path following control, and adopted to track the generated discretized setting reference path points by using the model predictive control method. The predictive following control method is constrained by the Lyapunov function, which ensures the stability of the control of AGV motion. The controller is constrained by Lyapunov stability criteria to demonstrate the local and global convergence of the control system. The comparative results of numerical simulation experiments show that the proven method is effective with better smoothness and stability.

Keyword : Automated guided vehicle (AGV), feedback linearzation, model predictive control, path following, quadratic programming.

 
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