Trajectory Tracking Control of AGV Based on Sliding Mode Control With the Improved Reaching Law

In order to quicken the response of the sliding mode control system, a novel reaching law with the dynamic coefficients, which could strengthen the role of the major term and weaken the role of the minor term, respectively, in the different stages, is proposed. The finite-time convergence of the improved reaching law is proved. The kinematical and the dynamic models of the automated guided vehicle are established, and a double closed-loop control is designed to perform the trajectory tracking. The sliding mode control method based on the improved reaching law is used to control the attitude of the automated guided vehicle, and the outer loop controller outputs the desired attitude. The simulation results show that the improved reaching law could make the system arrive at the sliding surface more rapidly than the conventional reaching laws, the automated guided vehicle could have faster attitude response speed, and the different given trajectories could be tracked effectively by the double closed-loop control method.