Adaptive Sliding Mode Trajectory Tracking Control of AGV with Input Saturation

被引：0

作者：

Yang, Hongyu ^{[1
]}

Fan, Zirui ^{[1
]}

Zhang, Yijing ^{[1
]}

Wang, Heng ^{[1
]}

机构：

[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China

来源：

2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2023年

基金：

中国国家自然科学基金;

关键词：

Automated guided vehicle; trajectory tracking control; sliding mode control; adaptive control; input saturation; STEERING CONTROL;

D O I：

10.1109/CCDC58219.2023.10327077

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the trajectory tracking control problem of an AGV under the influence of input saturation, where an improved adaptive sliding mode control method based on a barrier function is proposed. The barrier function is used to ensure that the tracking error converges to a predefined range, and system chattering is reduced. An auxiliary system is designed to compensate for the vehicle system's input saturation, allowing the vehicle to maintain a satisfactory trajectory tracking performance when the control torque is limited. Finally, simulation results shows the effectiveness of the method proposed.

引用

页码：3376 / 3381

页数：6

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