Four-steering-wheel AGV trajectory tracking control method

The invention relates to a four-steering-wheel AGV trajectory tracking control method, and belongs to the field of AGV intelligent control. The method comprises the following steps: S1, establishing a four-steering-wheel AGV kinematic model based on a two-steering-wheel AGV kinematic model and an Ackerman steering theory; s2, establishing a lateral dynamical model and a longitudinal dynamical model of the trolley; s3, linearization is carried out on the four-steering-wheel AGV trolley model; s4, designing an optimal solution objective function of the prediction model according to the system model; and S5, designing a corresponding MPC trajectory tracking controller according to the constraint of the system on the speed and the angular speed of the trolley. According to the method, the loading performance of the four-steering-wheel AGV can be improved, meanwhile, the trajectory tracking control function of the trolley is guaranteed, and meanwhile high flexibility and fault-tolerant capacity are achieved. 本发明涉及