In order to realize the automation of transport equipment, according to the automatic guided vehicle (AGV) kinematics model, the trajectory tracking control of AGV with front wheel steering and rear wheel drive is studied. Lyapunov function is used to ensure the global stability of the system. Time-varying state feedback method based on integral backstepping is adopted, introducing virtual feedback, a trajectory tracking controller for AGV with nonholonomic constraints is proposed. In order to ensure the smooth motion of AGV, the speed and acceleration limited strategy of AGV is introduced into the controller. Simulation results show that the algorithm is fast, accurate and globally stable for different paths.

为实现运输设备的自动化，根据自动导引车(AGV)运动学模型，研究了前轮转向后轮驱动AGV的轨迹跟踪控制。Lyapunov 函数用于保证系统的全局稳定性。采用基于积分反步法的时变状态反馈方法，引入虚拟反馈，提出了一种具有非完整约束的AGV轨迹跟踪控制器。为了保证AGV的平稳运动，在控制器中引入了AGV的速度和加速度限制策略。仿真结果表明，该算法对不同路径具有快速、准确和全局稳定的特点。