Control of transport constraints for shuttle vehicles based on barrier Lyapunov functions

Abstract

With the rapid development of the warehousing and logistics industry, a stable, accurate and efficient shuttle operation system has become a hot topic of research. In this study, a constraint controller based on the Lyapunov function is designed to improve the constraint control and disturbance problems in the operation of shuttle vehicles. The performance test results show that the difference between the system output and the reference trajectory becomes progressively smaller in the first-order non-linear system, with the difference reaching zero at 2.5 s, after which the two are almost identical. The control output moves sinusoidally at [-14, 14]. In the second order non-linear system the difference between the system output and the reference trajectory is zero after 7 s. The control output at [-18, 18] moves with decreasing amplitude and is zero after 17 s. Application test results show that the velocity constraint is almost identical to the reference velocity, the trajectory stopping accuracy is above 98.0% and the immunity to interference meets the limit and fluctuates above and below 37. It shows that the method used in the study can control the speed, trajectory and external disturbance of the shuttle car with reasonable constraints and improve the operation efficiency and safety of the shuttle car. This study can provide theoretical support for improving the efficiency and safety of shuttle vehicles, and promote the development of the warehousing and logistics industry.