摘要：AbstractThis paper proposes a linear-parameter varying (LPV) controller design approach for trajectory tracking of an automated guided vehicle (AGV) based on a simple yet nonlinear kinematic model. By linearization of the model about a reference trajectory, an LPV model is readily obtained, which is then augmented with identified linear time-invariant actuator models. An appropriate parameter-dependent controller for the system is designed in an optimal way by specifying the control objectives in terms ofH∞criteria. Its performance is assessed by means of experiments on the considered prototype of an autonomous platform.
关键词：Keywordsautomated guided vehicleslinear parameter-varying controlfeedback controlcomputer-aided control system designexperimental validation
