LQR Based Trajectory Tracking Control for Forked AGV

Abstract:

This paper concerns trajectory tracking control of AGV. The model of forked AGV was simplified from a three-wheeled vehicle model to a “bicycle” model. The dynamic model of vehicle lateral motion was built depending on Newtown’s second law and the analysis of lateral tire forces. The optimal control linear quadratic regulator was applied to achieve trajectory tracking control. Use the MATLAB and CarSim to simulate. The satisfied results proved that the control algorithm was effective and could make the system stable.

• Periodical: Applied Mechanics and Materials (Volume 577)
• Pages: 447-451
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.577.447
• Online since: July 2014
• Authors: Yang Li*, Xiao Nian Wang, Si Jun Li, Jin Zhu
• Keywords: AGV, Linear Quadratic Regulator (LQR), Optimal Control, Trajectory Tracking

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