Real-time predictive sliding mode control method for AGV with actuator delay

Abstract

In this paper, a predictive sliding mode control method based on multi-sensor fusion is proposed to solve the problem of insufficient accuracy in trajectory tracking caused by actuator delay. The controller, based on the kinematics model, uses an inner and outer two-layer structure to achieve decoupling of position control and heading control. A reference positional change rate is introduced into the design of controller, making the automatic guided vehicle (AGV) capable of real-time predictive control ability. A stability analysis and a proof of predictive sliding mode control theory are provided. The experimental results show that the new control algorithm can improve the performance of the AGV controller by referring to the positional change rate, thereby improving the AGV operation without derailing.