Trajectory-Following Control of Mecanum-Wheeled AGV Using Fuzzy Nonsingular Terminal Sliding Mode

Abstract

In this paper, a fuzzy nonsingular terminal sliding mode (FNTSM) control strategy is proposed for the trajectory-following control problem of a Mecanum-wheeled automated guided vehicle (MWAGV). Initially, a plant model with 4 inputs and 3 outputs is identified to describe the kinematics and dynamics of the MWAGV's trajectory-tracking behavior. Then, an FNTSM controller is designed for the MWAGV, and the control system's stability is verified via Lyapunov. Lastly, simulations are executed to test the control performance in the cases of lateral motion and circular motion with an initial offset. The simulation results indicate that compared with conventional sliding mode (CSM) control, the developed FNTSM control algorithm owns remarkable superiority reflected in higher tracking accuracy, stronger robustness and a better balance between the tracking precision and control smoothness.