An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV
Abstract This paper attempts to address the trajectory following control problem of nonholonomic mobile AGV by proposing an improved sliding mode control approach in which, based on the kinematics and attitude deviations established for AGV, the motion characteristics are analyzed and a backstepping...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2022-10-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-22697-w |
| _version_ | 1797986098821988352 |
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| author | Benchi Jiang Jiankang Li Siyang Yang |
| author_facet | Benchi Jiang Jiankang Li Siyang Yang |
| author_sort | Benchi Jiang |
| collection | DOAJ |
| description | Abstract This paper attempts to address the trajectory following control problem of nonholonomic mobile AGV by proposing an improved sliding mode control approach in which, based on the kinematics and attitude deviations established for AGV, the motion characteristics are analyzed and a backstepping sliding mode control with a novel reaching law is designed. This reaching law integrates the merits of the power and exponential reaching laws and promotes the convergence rates of tracking errors. Moreover, with the improved sliding mode controller, the asymptotic stability of tracking deviations can be strictly guaranteed. The simulations have demonstrated the effectiveness and superiority of the proposed approach for mobile AGV. |
| first_indexed | 2024-04-11T07:27:26Z |
| format | Article |
| id | doaj.art-5529ba87cd594827ab84efff94a59b74 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-11T07:27:26Z |
| publishDate | 2022-10-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-5529ba87cd594827ab84efff94a59b742022-12-22T04:37:01ZengNature PortfolioScientific Reports2045-23222022-10-0112111210.1038/s41598-022-22697-wAn improved sliding mode approach for trajectory following control of nonholonomic mobile AGVBenchi Jiang0Jiankang Li1Siyang Yang2School of Mechanical Engineering, Anhui Polytechnic UniversitySchool of Mechanical Engineering, Anhui Polytechnic UniversitySchool of Mechanical Engineering, Anhui Polytechnic UniversityAbstract This paper attempts to address the trajectory following control problem of nonholonomic mobile AGV by proposing an improved sliding mode control approach in which, based on the kinematics and attitude deviations established for AGV, the motion characteristics are analyzed and a backstepping sliding mode control with a novel reaching law is designed. This reaching law integrates the merits of the power and exponential reaching laws and promotes the convergence rates of tracking errors. Moreover, with the improved sliding mode controller, the asymptotic stability of tracking deviations can be strictly guaranteed. The simulations have demonstrated the effectiveness and superiority of the proposed approach for mobile AGV.https://doi.org/10.1038/s41598-022-22697-w |
| spellingShingle | Benchi Jiang Jiankang Li Siyang Yang An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV Scientific Reports |
| title | An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV |
| title_full | An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV |
| title_fullStr | An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV |
| title_full_unstemmed | An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV |
| title_short | An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV |
| title_sort | improved sliding mode approach for trajectory following control of nonholonomic mobile agv |
| url | https://doi.org/10.1038/s41598-022-22697-w |
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