Agv robot controller2/19/2024 ![]() In building the kinematic model of AGV, a sliding mode trajectory tracking controller with an improved reaching law is designed to further improve the convergence speed and tracking accuracy. 16 studied a new coupled fractional-order sliding mode control (CFSMC) with superior capacities for providing additional control flexibility and achieving high accuracy.Īlthough the references mentioned above have made contributed to the application of sliding mode control to trajectory tracking, the problem of difficult control resulting from the complex nonlinear system of the AGV itself remains unaddressed. The sliding mode control method based on the improved reaching law is developed to make the system arrive at the sliding surface rapidly and effectively follow the different trajectories 15. A new integral high-order sliding mode (IHOSM) surface is also introduced to achieve a rapid and accurate trajectory tracking 14. The target method rapidly converts the error to zero in a certain period 13. A novel trajectory tracking control method has also been proposed for nonholonomic mobile robots based on the non-negative piecewise predefined-time theorem. 12 proposed a sliding mode controller with adaptive gains for trajectory tracking, thereby ensuring accuracy and minimizing the tracking errors and chattering effects. This method can rapidly converge all error states to zero, and generates minimal tracking error chattering 11. A fractional-order sliding mode fault-tolerant control method is proposed to follow the desired path. This approach not only avoids chattering but also guarantees the stability of the system 10. A continuous sliding mode control (CSMC) scheme is also developed for high-precision trajectory tracking tasks. The projected trajectory track control technique can improve the power of mobile robots and minimize the error of a pose 9. To improve the accuracy of trajectory tracking control, an enhanced variable structure based on sliding mode has also been designed. By comparing the results of this approach with those of an adaptive sliding mode control (ASMC), they found that their proposed controller exerts less control effort. 8 combined the optimal and robust control system with adaptive gains to follow the desired path. 7 presented an adaptive integral terminal sliding mode (AITSM) control algorithm for a trajectory-tracking task that exhibits great superiority in tracking precision and control robustness. Many studies have been conducted to effectively utilize the advantages of sliding mode control and alleviate its adverse effects on the control system. However, this method is also prone to jitter, slow convergence, and low tracking accuracy, thereby reducing the stability of the system. Sliding mode control, as an effective method for nonlinear systems, has the advantages of fast response and insensitivity to parameter changes and external disturbances. As one of the core technologies of AGVs, trajectory tracking control has attracted much research attention, and various control methods have been proposed for this purpose, including robust control, backstepping control, PID control, fuzzy control, adaptive control, and sliding mode control 1, 2, 3, 4, 5, 6. AGVs are widely used in scientific studies, transportation, and research because of their high degrees of automation, flexibility, and anti-interference capability.
0 Comments
Leave a Reply.AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |