An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV

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...

Descripción completa

Detalles Bibliográficos
Autores principales: Jiang, Benchi, Li, Jiankang, Yang, Siyang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Nature Publishing Group UK 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9588088/
https://www.ncbi.nlm.nih.gov/pubmed/36272989
http://dx.doi.org/10.1038/s41598-022-22697-w
_version_ 1784814051501539328
author Jiang, Benchi
Li, Jiankang
Yang, Siyang
author_facet Jiang, Benchi
Li, Jiankang
Yang, Siyang
author_sort Jiang, Benchi
collection PubMed
description 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.
format Online
Article
Text
id pubmed-9588088
institution National Center for Biotechnology Information
language English
publishDate 2022
publisher Nature Publishing Group UK
record_format MEDLINE/PubMed
spelling pubmed-95880882022-10-24 An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV Jiang, Benchi Li, Jiankang Yang, Siyang Sci Rep Article 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. Nature Publishing Group UK 2022-10-22 /pmc/articles/PMC9588088/ /pubmed/36272989 http://dx.doi.org/10.1038/s41598-022-22697-w Text en © The Author(s) 2022 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) .
spellingShingle Article
Jiang, Benchi
Li, Jiankang
Yang, Siyang
An improved sliding mode approach for trajectory following control of nonholonomic mobile AGV
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
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9588088/
https://www.ncbi.nlm.nih.gov/pubmed/36272989
http://dx.doi.org/10.1038/s41598-022-22697-w
work_keys_str_mv AT jiangbenchi animprovedslidingmodeapproachfortrajectoryfollowingcontrolofnonholonomicmobileagv
AT lijiankang animprovedslidingmodeapproachfortrajectoryfollowingcontrolofnonholonomicmobileagv
AT yangsiyang animprovedslidingmodeapproachfortrajectoryfollowingcontrolofnonholonomicmobileagv
AT jiangbenchi improvedslidingmodeapproachfortrajectoryfollowingcontrolofnonholonomicmobileagv
AT lijiankang improvedslidingmodeapproachfortrajectoryfollowingcontrolofnonholonomicmobileagv
AT yangsiyang improvedslidingmodeapproachfortrajectoryfollowingcontrolofnonholonomicmobileagv

Ejemplares similares