Tracking Controller Design for Omni-Directional Automated Guided Vehicles Using Backstepping and Model Reference Adaptive Control

Abstract

This paper proposes a tracking controller for omni-directional automated guided vehicle using backstepping and model reference adaptive control. To design the proposed controller, the followings are done. Firstly, a system modeling is obtained by analyzing a dynamic modeling of an OAGV. Secondly, a backstepping technique is utilized to design the proposed controller since a system modeling has a recursive structure. Moreover, there exist uncertain parameters in the system modeling, a known reference model is utilized so that the output of the reference model tracks a virtual control input. Thirdly, uncertain parameters are estimated by update laws in order that the velocity vector of the OAGV tracks the output vector of the reference model control input. Finally, the stability of the proposed controller is analyzed by Lyapunov theory and the effectiveness of the proposed controller are verified by simulation results.