关键词: 自动导向车, 不确定系统, 轨迹跟踪, 自适应反演滑模控制

Abstract:

Proposed in this paper is a trajectory tracking control scheme of ( 2,0) -type nonholonomic AGV ( Automated Guided Vehicle) . In this scheme,the complex nonlinear dynamic system of AGV is taken into consideration,and the standard input-output nonlinear feedback control is employed to linearize the system. Moreover,in order to overcome the model parameter uncertainty and external unknown disturbances of the AGV,a general uncertain dynamic model of AGV with the output from the actuator is established,and a position servo compensation using an adaptive backstepping sliding mode controller based on the Lyapunov stability theorem is implemented,which ensures the stability and asymptotic convergence of the system. Simulated results show that the proposed scheme not only weakens the chattering during the sliding mode control but also eliminates the impacts of model uncertainty and external disturbances on the system,so that it helps to track the desired trajectory for AGV rapialy and accurately.

Key words: automated guided vehicle, uncertain system, trajectory tracking, adaptive backstepping sliding mode control