Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

2017 International Symposium on Application of Materials Science and Energy Materials

材料科学;能源学

Chen, Hongbin^1

Beijing Institute of Graphic Communication, Beijing, China^1

关键词: Controller design method;    Convergence speed;    Desired trajectories;    Kinematics modeling;    Nonlinear sliding mode;    Path tracking problem;    Sliding mode variable structure control;    Terminal sliding mode;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/322/7/072035/pdf
DOI  :  10.1088/1757-899X/322/7/072035

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.