关键词: 自动引导车;镇定;动态输出观测器;粒子群

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.

Key words: automated guided vehicle(AGV);stability;dynamic output observer;particle swarm