Design of a sliding mode controller for an automatic guided vehicle and its implementation

Abstract

In this paper, a control scheme that combines a kinematic controller and a sliding mode dynamic controller with external disturbances is proposed for an automatic guided vehicle to track a desired trajectory with a specified constant velocity. It provides a method of taking into account specific mobile robot dynamics to convert desired velocity control inputs into torques for the actual mobile robot. First, velocity control inputs are designed for the kinematic controller to make the tracking error vector asymptotically stable. Then, a sliding mode dynamic controller is designed such that the mobile robot's velocities converge to the velocity control inputs. The control law is obtained based on the backstepping technique. System stability is proved using the Lyapunov stability theory. In addition, a scheme for measuring the errors using a USB camera is described. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controller.

A full error dynamics switching modeling and control scheme for an articulated vehicle

“…More specifically, the (i)-th MP-controller's objective is to optimize the quadratic cost in (14), while the (i)-th linearized system is within Σ.…”

“…A control scheme that combines a kinematic controller and a sliding mode for wheeled mobile robots has been presented in [13,14]. In [15] a general kinematic model of an articulated vehicle has been proposed that described how heading angle evolved with time as a function of steering angle and velocity.…”

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

“…Furthermore, an articulated vehicle is able to perform sharper turns from an Ackerman vehicle of a similar length, while it is being characterised in general by a higher manoeuvrability [5] and thus AVs are commonly found in multiple applications in the fields of mining and construction sites [6]. 15 Regarding the area of path planning, one of the major challenges is to satisfy the vehicle's kinematic constraints, while applying the generated planned path, a problem that to the authors best knowledge is still an open research issue. Towards this direction, common and rather oversimplified and non-realistic approaches hav been the cases where the vehicle has been considered as a unit point, with the major kinematics of the 20 vehicle neglected for simplicity reasons, while the AV has been considered of having full translation capabilities with a general state space representation ofẋ = u, with u the actuating control signal.…”

“…A control scheme that combines a kinematic and a sliding mode controller 35 for wheeled mobile robots has been presented in [14,15]. In [16] a general kinematic model of an articulated vehicle has been proposed that described how heading angle evolved with time as a function of steering angle and velocity.…”

Robust Discrete-Time Sliding Mode Control of Vehicle Steering System with Uncertainty

“…따라서 조향시스템이 가 지는 모델 불확실성과 외란에 대해 강인성을 확보하기 위해 서는 강인제어기법이 적용되는 것이 바람직하다. 따라서 본 연구에서는 제어모듈의 샘플링 시간이 고려된 강인제어기법 으로써 이산시간 슬라이딩 모드제어기를 설계한다 [9,10]. 이산시간 슬라이딩 모드제어기를 설계하기 위해 연속-시간 단일입출력 선형 시불변 시스템은 다음과 같이 고려된다 [4].…”