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

doi:10.1007/s40436-019-00275-0

Advances in Manufacturing ›› 2019, Vol. 7 ›› Issue (4): 448-459.doi: 10.1007/s40436-019-00275-0

• ARTICLES • 上一篇

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

Zhi Chen¹, Jian Fu², Xiao-Wei Tu¹, Ao-Lei Yang¹, Min-Rui Fei¹

1 School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China;
2 College of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094, People's Republic of China

收稿日期:2018-12-02 修回日期:2019-05-21 出版日期:2019-12-25 发布日期:2019-12-26
通讯作者: Zhi Chen E-mail:andychen183@shu.edu.cn
基金资助:
This work was supported by the National Natural Science Foundation of China (Grant Nos. 61903241, 61304223, 61603191, 61873158, 61573237), the China Postdoctoral Science Foundation (Grant No. 2018M630424), and the Natural Science Foundation of Shanghai Municipality (Grant No. 18ZR1415100).

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

Zhi Chen¹, Jian Fu², Xiao-Wei Tu¹, Ao-Lei Yang¹, Min-Rui Fei¹

1 School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China;
2 College of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing 210094, People's Republic of China

Received:2018-12-02 Revised:2019-05-21 Online:2019-12-25 Published:2019-12-26
Contact: Zhi Chen E-mail:andychen183@shu.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (Grant Nos. 61903241, 61304223, 61603191, 61873158, 61573237), the China Postdoctoral Science Foundation (Grant No. 2018M630424), and the Natural Science Foundation of Shanghai Municipality (Grant No. 18ZR1415100).

摘要/Abstract

摘要： 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.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-019-00275-0

关键词: Predictive sliding mode control, Multi-sensor fusion, Trajectory tracking, Real-time decoupling

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.

The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-019-00275-0

Key words: Predictive sliding mode control, Multi-sensor fusion, Trajectory tracking, Real-time decoupling

Zhi Chen, Jian Fu, Xiao-Wei Tu, Ao-Lei Yang, Min-Rui Fei. Real-time predictive sliding mode control method for AGV with actuator delay[J]. Advances in Manufacturing, 2019, 7(4): 448-459.

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

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

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