Real-time predictive sliding mode control method for AGV with actuator delay

作     者：Zhi Chen Jian Fu Xiao-Wei Tu Ao-Lei Yang Min-Rui Fei 

作者机构：School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444People's Republic of China College of Energy and Power EngineeringNanjing University of Science and TechnologyNanjing 210094People's Republic of China 

出 版 物：《Advances in Manufacturing》 (先进制造进展（英文版）)

年 卷 期：2019年第7卷第4期

页      面：448-459页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：This work was supported by the National Natural Science Foundation of China(Grant Nos.61903241,61304223,61603191,61873158,61573237) the China Postdoctoral Science Foundation(Grant No.2018M630424) the Natural Science Foundation of Shanghai Municipality(Grant No.18ZR1415100) 

主　　题：Predictive sliding mode control-Multi-sensor fusion Trajectory tracking Real-time decoupling 

摘      要：In this paper,a predictive sliding mode control method based on multi-sensor fusion is proposed to solve the problem of insufficient accuracy in trajectory tracking caused by actuator *** controller,based on the kinematics model,uses an inner and outer two-layer structure to achieve decoupling of position control and heading control.A reference positional change rate is introduced into the design of controller,making the automatic guided vehicle(AGV)capable of real-time predictive control ability.A stability analysis and a proof of predictive sliding mode control theory are *** experimental results show that the new control algorithm can improve the performance of the AGV controller by referring to the positional change rate,thereby improving the AGV operation without derailing.