Real-time control of an automated guided vehicle using a continuous mode of sliding mode control

Abstract

This paper proposes a tracking control method for a certain type of differential-drive wheeled mobile robot, called automated guided vehicles (AGVs), using a continuous mode approach of sliding mode control (SMC). The SMC applied produces a continuous signal in between the U and -U control signals instead of discrete ones. The controller is applied to control the velocity and direction angle of the vehicle in order to keep it on a desired path. The obtained algorithm is applied to the experimental system under load and disturbance to show its robustness. The experimental results are satisfactory and verify the performance of the control algorithm.

Neuro-adaptive fixed-time non-singular fast terminal sliding mode control design for a class of under-actuated nonlinear systems

“…where ∆ = ∂ Fi ∂zn2 ∆ |Υi| γi . It is worth noting that the above inequality (22) remains true subject to βi ≤ βi + | ∆|. It may also be written as…”

“…In the sense of robust nonlinear control algorithms, the sliding mode control (SMC) has received much interest [22]. In the presence of disturbances, this strategy will drive the dynamics of UNS to meet the desired target, like the double-pendulum crane in [13], unmanned aerial vehicle (UAV) in [32], cartpendulum system in [21], satellite in [10] and ball and beam system in [5,1].…”

Sliding Mode Control for Position Tracking of Servo System with a Variable Loaded DC Motor

“…SMC, which shows insensibility to system's parametric changes, disturbing effects, and can operate under uncertain conditions, is a robust control method for linear and nonlinear systems [14], [16]. Thanks to these advantageous properties, SMC draws much interest in machine control applications [17]. Conventional SMC theory is composed of two phases, which are reaching mode and sliding mode as can be seen in Fig.1.…”

Trajectory Tracking Control of a Four Rotor Unmanned Aerial Vehicle Based on Continuous Sliding Mode Controller

“…Apart from these advantages, the controller has a side effect that is called chattering because of discontinuous movement of the controller. To solve this undesirable movement, some solutions have been proposed [18], [19]. A. Benallegue et al [20], applied a high-order sliding mode observer (HOSMO) to a quadrotor to estimate and observe the effects of the external disturbances.…”