• CN：11-2187/TH
• ISSN：0577-6686

›› 2014, Vol. 50 ›› Issue (8): 119-127.

• 论文 •

### 基于动态输出观测器的一类自动引导车镇定问题研究

1. 合肥工业大学机械工程博士后科研流动站;安徽江淮汽车集团有限公司博士后科研工作站
• 出版日期:2014-04-20 发布日期:2014-04-20

### Study on Class of Automated Guided Vehicle Stability Based on Dynamic Output Observer

BAO Wei; ZHAO Han; YIN Liangjie

1. Postdoctoral Work Station of Mechanical Engineering, Hefei University of Technology;Postdoctoral Work Station, Anhui Jianghuai Automobile Co., Ltd.
• Online:2014-04-20 Published:2014-04-20

Abstract: In automated guided vehicle(AGV) system, a stability method, which is based on dynamic output observer, is put forward to solve the stability problem of trajectory tracking system. The model of AGV trajectory tracking system is built. The shortage of design method of dynamic output observer is discussed. It is proved that the condition number of eigenvector matrix has important influence on the system’s robust stability. Because of the freedom of eigenvector assignment, the particle swarm arithmetic is used to optimize dynamic output observer. The freedom of eigenvector assignment is represented by the particle’s position, and the condition number of eigenvector matrix is used to be the objective function. The particle swarm arithmetic is used to obtain the minimum value of the condition number. It is shown by simulation that the robust stability of dynamic output observer with particle swarm arithmetic is better than that of dynamic output observer and full-order observer.