Real-time control of an automated guided vehicle using a continuous mode of sliding mode control

Authors

BİROL SOYSAL

DOI

10.3906/elk-1211-130

Abstract

This paper proposes a tracking control method for a certain type of differential-drive wheeled mobile robot, called automated guided vehicles (AGVs), using a continuous mode approach of sliding mode control (SMC). The SMC applied produces a continuous signal in between the U and -U control signals instead of discrete ones. The controller is applied to control the velocity and direction angle of the vehicle in order to keep it on a desired path. The obtained algorithm is applied to the experimental system under load and disturbance to show its robustness. The experimental results are satisfactory and verify the performance of the control algorithm.

Keywords

Automated guided vehicle, trajectory tracking, sliding mode control

First Page

1298

Last Page

1306

Recommended Citation

SOYSAL, BİROL (2014) "Real-time control of an automated guided vehicle using a continuous mode of sliding mode control," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 22: No. 5, Article 15. https://doi.org/10.3906/elk-1211-130
Available at: https://journals.tubitak.gov.tr/elektrik/vol22/iss5/15