Autonomous vehicle Trajectory Tracking Based on Adaptive Sliding Mode Control

The problem of path control of automatically guided vehicles along a desired trajectory is considered in this paper. A vehicle system driven by two independent DC motors is presented here, one of which is used for the right wheel and the other is used for the left wheel. By using desired path, angular displacement and velocity of the right and left wheels can be found using the AGV dynamics and the control torque is found to ensure the convergence the position and orientation of AGV to their fixed values. To control the path of this system, a switching surface is adopted such that it becomes easy to ensure the stability of the error dynamics in the sliding mode. Then an adaptive sliding mode controller (ASMC) is derived to guarantee the occurrence of the sliding motion. The adaptive laws are derived in the Lyapunov sense to guarantee the stability and tracking of the controlled system. The effectiveness of this controller is then demonstrated by simulations.

Keywords:

vehicle system , AGV , adaptive sliding mode controller , Lyapunov sense.