Design and Simulation of Trajectory Tracking Controller Based on Fuzzy Sliding Mode Control for

摘要

Automated guided vehicle (AGV) plays a very important role in the port environment. It significantly improves the working efficiency of the terminal and is a hot topic for many experts. This paper designs a fuzzy sliding mode controller and calculates the maximum turning speed based on the turning conditions that may occur in practice. This ensures that AGV will accurately and safely track the given trajectories. Lyapunov formula verifies the stability of this controller. In the simulation experiment, AGV tracks along a pre-designed circular trajectory The experimental results verify the feasibility of the fuzzy sliding mode controller.