（3）研究了AGV轨迹跟踪控制技术。分析了AGV轨迹跟踪运动控制系统并

（3）研究了AGV轨迹跟踪控制技术。分析了AGV轨迹跟踪运动控制系统并建立误差模型，然后设计轨迹跟踪控制器，开展了基于李雅普诺夫函数的控制器设计，利用粒子群(PSO)算法对控制器参数变量实时调整与优化。此外，考虑系统速度受到电机的影响，设计基于电机模型的PID控制器，并对两轮速度控制来改善轨迹跟踪效果。最后MATLAB仿真验证了基于PSO的李雅普诺夫控制器的轨迹跟踪控制效果具有优越性，证明了本文设计的方案准确性和可靠性，为后续研究奠定基础。

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结果 (简体中文) 2:[复制]

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(3) The AGV trajectory tracking control technology is studied. The AGV trajectory tracking motion control system is analyzed and the error model is established, then the trajectory tracking controller is designed, the controller design based on Lyapunov function is carried out, and the particle swarm optimization (PSO) algorithm is used to adjust and optimize the controller parameters in real time. In addition, considering that the system speed is affected by the motor, a PID controller based on the motor model is designed, and the two wheel speed control is used to improve the trajectory tracking effect. Finally, matlab simulation verifies the superiority of the trajectory tracking control effect of Lyapunov controller based on PSO, proves the accuracy and reliability of the scheme designed in this paper, and lays a foundation for subsequent research.

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结果 (简体中文) 3:[复制]

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(3) Research on AGV trajectory tracking control technology. The AGV trajectory tracking motion control system is analyzed and the error model is established. Then the trajectory tracking controller is designed, and the controller design based on Lyapunov function is carried out. The particle swarm optimization (PSO) algorithm is used to adjust and optimize the controller parameters in real time. In addition, considering the influence of the motor on the system speed, a PID controller based on the motor model is designed, and the speed of two wheels is controlled to improve the tracking effect. Finally, MATLAB simulation verifies the superiority of the trajectory tracking control effect of Lyapunov controller based on PSO, and proves the accuracy and reliability of the scheme designed in this paper, which lays a foundation for the follow-up research.

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