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Tracking Control of the OAGV Using Adaptive Sliding Mode Controller with Center of Gravity Different from Geometric Center and Load Change


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DOI: https://doi.org/10.15866/ireaco.v16i5.24296

Abstract


This paper proposes an adaptive sliding mode controller of Omnidirectional Automated Guided Vehicle (OAGV) with considering the change of the center of gravity of the vehicle due to load change. To achieve this, the paper presents the posture dynamic model of the OAGV based on Newton’s second law of motion. A sliding mode controller based on the dynamic modeling is designed by using Lyapunov stability theory for trajectory tracking. With an adaptive update law, the proposed control law makes the system insensitive to load change while guaranteeing stability. Real-time localization of the OAGV in indoor environments is achieved using a laser sensor device. The simulation and experiment results are presented to demonstrate the effectiveness of the proposed controller.
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Keywords


Omnidirectional AGV; NAV-200; Adaptive Sliding Mode Controller; Lyapunov Stability Theory; Omnidirectional Wheel

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References


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