An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV

Jiang, Benchi; Li, Jiankang; Yang, Siyang

doi:10.1038/s41598-022-22697-w

Cited by 11 publications

(7 citation statements)

References 19 publications

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“…Others research works use the sliding control approach as an efective method for nonlinear systems, with fast response and insensitivity to parameter changes and external disturbances. Jiang et al address the AGV trajectory following control problem with nonholonomic constraints by proposing a sliding mode control approach [17]. Tis work analyses the AGV motion characteristics and designs a backstepping sliding mode control with a ranging law.…”

Section: Related Workmentioning

confidence: 99%

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Sánchez-Rodríguez,

Bayona,

Sierra-García

et al. 2024

Complexity

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Automated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking to make accurate stops at logistics stations, such as loading stations, or to pick up or drop off trolleys, pallets, or racks. This paper proposes a hybrid control architecture for trajectory tracking of a hybrid tricycle-differential AGV. The control strategy combines conventional proportional integral derivative (PID) control with advanced nonlinear Lyapunov control (LPC). The LPC is used for trajectory tracking while the PID is used for speed control of the robot. The stability of the controller is demonstrated for any differentiable trajectory. When a PID optimized with genetic algorithms is compared with the proposed controller for several trajectories, the LPC outperforms it in all cases.

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Section: Related Workmentioning

confidence: 99%

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Sánchez-Rodríguez,

Bayona,

Sierra-García

et al. 2024

Complexity

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“…According to (15), the control error converges from µ to 0 in finite time. The duration it takes for the system's error state to reach convergence during the sliding phase can be calculated as…”

Section: Remarkmentioning

confidence: 99%

“…This sliding surface is designed to guide the sliding variables of the system toward the equilibrium point within a finite time span, ensuring fast convergence. To further enhance the convergence speed and overcome the slow convergence problem, a fast TSMC (FTSMC) is introduced in [14,15]. The FTSMC builds upon the TSMC concept [16] and provides an improved control scheme to achieve quicker and more efficient convergence for the system.…”

Section: Introductionmentioning

confidence: 99%

Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold

Vo,

Hoang,

Kim

et al. 2024

Mathematics

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This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties.

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“…AGV (Automated Guided Vehicle) is an automatic guided vehicle capable of autonomous navigation without human intervention [1] , which has been widely used in logistics [2] , medicine [3] , shipping [4] , industry [5] and other scenarios.With the rapid development of AGV technology [6] , in the medical field, as an automated transport equipment, carrying AGV has received more and more attention and gradually developed in the direction of intelligence [7] .Therefore, it is a key research direction for AGVs to safely avoid dynamic and static obstacles such as pedestrians and medical devices in the medical environment [8] , and to reasonably plan a path from the starting point to the target point [9] . At present, scholars from different countries have made a series of research and improvement on the path planning algorithm and the limitations of the algorithm itself [10] .…”

Section: Introductionmentioning

confidence: 99%

Obstacle avoidance strategy and path planning of medical AGV based on the bionic characteristics of antelope migration

Hu,

Niu,

Gao

et al. 2024

Preprint

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Aiming at the problem that Automated guided vehicle (AGV) faces dynamic and static obstacles in the process of transporting patients in medical environment and needs to avoid in real time, inspired by the behavior of antelopes during migration, this paper proposes a bionic obstacle avoidance strategy based on adaptive behavior of antelopes. The traditional artificial potential field and dynamic window algorithm are improved by using the bionic characteristics of antelope migration.By adding new potential field force points and improving the window size, the success rate and prediction range of AGV navigation are improved.Simulation experiments were carried out through the numerical simulation platform, and the verification results showed that:The bionic obstacle avoidance strategy proposed in this paper can avoid dynamic and static obstacles at the same time. In the example, the success rate of path planning is increased by 34%, the running time is reduced by 33%, and the average path length is reduced by 1%. The proposed method can realize the integration of “dynamic and static” avoidance in the process of transporting patients, and effectively save the time of transporting patients by AGV.It provides a theoretical basis for realizing obstacle avoidance and rapid loading of AGV in medical environment.

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An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV

Cited by 11 publications

References 19 publications

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold

Obstacle avoidance strategy and path planning of medical AGV based on the bionic characteristics of antelope migration

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