| 基于GA和LS-SVM的AGV变结构控制 |
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| 引用本文： | JIAO Jun,陈无畏,WANG Ji-xian,朱张青,WANG Tang-bin.基于GA和LS-SVM的AGV变结构控制[J].系统仿真学报,2008,20(14). |
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| 作者姓名： | JIAO Jun 陈无畏 WANG Ji-xian 朱张青 WANG Tang-bin |
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| 作者单位： | 1. 合肥工业大学机械与汽车学院,安徽合肥,230009
2. 南京大学,江苏南京,210093 |
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| 基金项目： | 江苏大学现代农业装备与技术国家重点实验室培育点开放基金，安徽省教育厅自然科学基金 |
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| 摘 要： | 为了提高自动引导车控制的精度,提出了一种基于遗传算法和支持向量机的变结构控制方法。利用遗传算法结合支持向量机在线调整变结构控制律中的参数,克服了常规变结构控制方法中需预先设定趋近律参数的限制,既保留了传统趋近律的优点,又有效的改善了系统的控制品质,消除了系统抖振,使系统最终以理想方式在滑模面上运动,理论分析和仿真结果表明了所提出方法的有效性。
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| 关 键 词： | 变结构控制 离散趋近律 支持向量机 遗传算法 |
Automatic Guided Vehicle Variable Structure Control Based on Genetic Algorithm and Least Square-support Vector Machine |
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| JIAO Jun,CHEN Wu-wei,WANG Ji-xian,ZHU Zhang-qing,WANG Tang-bin.Automatic Guided Vehicle Variable Structure Control Based on Genetic Algorithm and Least Square-support Vector Machine[J].Journal of System Simulation,2008,20(14). |
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| Authors: | JIAO Jun CHEN Wu-wei WANG Ji-xian ZHU Zhang-qing WANG Tang-bin |
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| Abstract: | In order to advance automated guide vehicle (AGV) control, a variable structure AGV control method based on genetic algorithm (GA) and least square-support vector machine (LS-SVM) was proposed. Parameters, which were determined previously in the conventional reaching law, were regulated adaptively by GA and LS-SVM. It is shown that all advantages of conventional reaching law are retained, meanwhile the control features of the control system are improved effectively and system chattering is eliminated. System can move perfectly on the sliding-mode surface. Theoretic analysis and simulation results prove the validity of the method. |
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| Keywords: | variable structure control discrete reaching law Least Square-Support vector machine (LS-SVM) genetic algorithm (GA) |
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