关键词: 自动导引小车, 轨迹跟踪, 反演算法, 滑模切换函数, 改进等速趋近律, 非线性系统

Abstract: Aiming at how to quickly and smoothly eliminate the distance error and angle error caused by the approaching during the Automated Guided Vehicles(AGV)trajectory tracking process,a sliding mode trajectory tracking control method of improved constant velocity reaching law was proposed.The AGV kinematics model was established in the global coordinate system,and the sliding mode shear function of AGV was obtained based on the control strategy of Backstepping to deal with nonlinear system,thus solving the difficulty of switching function of sliding mode control in nonlinear system.In order to better achieve the AGV from any initial deviation state to the sliding mode switching surface,the switching function and the trajectory tracking control law based on the improved constant velocity reaching law of AGV sliding mode control was established by replacing the symbol function in the original reaching law with a continuous function,which was in response to the influence of the constant ε in the constant velocity reaching law on the approaching process.The simulation data and experimental results showed that the proposed trajectory tracking control method could make AGV achieve faster error correction at different turning radius and different speeds,and ultimately make the system stable.

Key words: automated guided vehicles, trajectory tracking, Backstepping, sliding mode shear function, improved constant velocity reaching law, nonlinear system