Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle
Based on sliding mode variable structure control theory,the path tracking problem of automatic guided vehicle is studied,proposed a controller design method based on the terminal sliding mode.First of all,through analyzing the characteristics of the automatic guided vehicle movement,the kinematics model is presented.Then to improve the traditional expression of terminal sliding mode,design a nonlinear sliding mode which the convergence speed is faster than the former,verified by theoretical analysis,the design of sliding mode is steady and fast convergence in the limited time.Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle,the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time.The simulation results verify the correctness and effectiveness of the control law.
Hongbin Chen
Beijing Institute Of Graphic Communication,Beijing,China
国际会议
上海
英文
1-7
2017-12-28（万方平台首次上网日期，不代表论文的发表时间）