(3) The AGV trajectory tracking control technology is studied. The AGV model is established and analyzed, 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, and proves the accuracy and reliability of the scheme designed in this paper.
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