Jian Gao, Heng Wang, Wei Quan, Qing Li, Xuanzhi Wang
{"title":"具有侧滑角的自动制导车辆自适应滑模轨迹跟踪控制","authors":"Jian Gao, Heng Wang, Wei Quan, Qing Li, Xuanzhi Wang","doi":"10.1109/DDCLS52934.2021.9455642","DOIUrl":null,"url":null,"abstract":"This paper studies the problem of trajectory tracking control for automated guided vehicles (AGVs). A novel control framework is proposed to deal with the nonlinear nonholonomic constrained systems with uncertainties. Firstly, an adaptive backstepping control law based on the AGV trajectory tracking model is designed to estimate sideslip angle online, which guarantees the kinematics system stability. Secondly, torque control inputs are designed by sliding mode strategy such that the linear velocity and angular velocity follow desired values accurately. The stability analysis shows that trajectory tracking errors are convergent and bounded. Finally, a simulation example is presented which demonstrates the effectiveness of the proposed approach.","PeriodicalId":325897,"journal":{"name":"2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Adaptive Sliding Mode Trajectory Tracking Control of Automated Guided Vehicles with Sideslip Angle\",\"authors\":\"Jian Gao, Heng Wang, Wei Quan, Qing Li, Xuanzhi Wang\",\"doi\":\"10.1109/DDCLS52934.2021.9455642\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper studies the problem of trajectory tracking control for automated guided vehicles (AGVs). A novel control framework is proposed to deal with the nonlinear nonholonomic constrained systems with uncertainties. Firstly, an adaptive backstepping control law based on the AGV trajectory tracking model is designed to estimate sideslip angle online, which guarantees the kinematics system stability. Secondly, torque control inputs are designed by sliding mode strategy such that the linear velocity and angular velocity follow desired values accurately. The stability analysis shows that trajectory tracking errors are convergent and bounded. Finally, a simulation example is presented which demonstrates the effectiveness of the proposed approach.\",\"PeriodicalId\":325897,\"journal\":{\"name\":\"2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-05-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/DDCLS52934.2021.9455642\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DDCLS52934.2021.9455642","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive Sliding Mode Trajectory Tracking Control of Automated Guided Vehicles with Sideslip Angle
This paper studies the problem of trajectory tracking control for automated guided vehicles (AGVs). A novel control framework is proposed to deal with the nonlinear nonholonomic constrained systems with uncertainties. Firstly, an adaptive backstepping control law based on the AGV trajectory tracking model is designed to estimate sideslip angle online, which guarantees the kinematics system stability. Secondly, torque control inputs are designed by sliding mode strategy such that the linear velocity and angular velocity follow desired values accurately. The stability analysis shows that trajectory tracking errors are convergent and bounded. Finally, a simulation example is presented which demonstrates the effectiveness of the proposed approach.