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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。
In order to improve the accuracy of automatic guided vehicle control, a variable structure control method based on genetic algorithm and support vector machine is proposed. The genetic algorithm and support vector machine are used to adjust the parameters of the variable structure control law online to overcome the limitation of the traditional approach to set the approaching law, which not only retains the advantages of the traditional approach but also improves effectively The control quality of the system is eliminated, the chattering of the system is eliminated, and the system finally moves in an ideal way on the sliding surface. The theoretical analysis and simulation results show the effectiveness of the proposed method.