基于模糊免疫PI和交叉耦合控制的AGV跟踪策略研究

针对AGV的多轮驱动，将模糊免疫PI和交叉耦合相结合的控制方法来实现AGV沿期等路径行驶，它解决了任一轮驱动系统因参数变化或扰动引起的不可预见性问题。由于交叉耦合控制利于多轮驱动之间的制约和协调，可以有效减少方向误差和提高路径跟踪的精确性。而基于免疫反馈原理的模糊免疫PI控制使系统具有一定的自适应能力和较强的鲁棒性，其控制性能优于常规的PI控制。仿真结果证明其可行性与有效性。

Research of AGV Tracking Strategy Based on Fuzzy Immune PI and Cross-coupling Control

In allusion to multi driving wheels, fuzzy immune PI and cross-coupling control method are proposed to realize expectant tracking path, which may resolve an unforeseeable problem caused by parameter changes or disturbance of any one driving system. Because cross-coupling control is advantageous to restricting and harmonizing between multi driving wheels, it can reduce orientation error and improve the accuracy of path tracking effectively. Fuzzy immune control based on the theory of immune feedback, can make the system having definite adaptive capability and robustness, and its performance will be superior to conventional PI control. Simulation results demonstrate that the method is feasible and valia.