Adaptive Sliding Mode Trajectory Tracking Control of Automated Guided Vehicles with Sideslip Angle

This paper studies the problem of trajectory tracking control for automated guided vehicles (AGVs). A novel control framework is proposed to deal with the nonlinear nonholonomic constrained systems with uncertainties. Firstly, an adaptive backstepping control law based on the AGV trajectory tracking model is designed to estimate sideslip angle online, which guarantees the kinematics system stability. Secondly, torque control inputs are designed by sliding mode strategy such that the linear velocity and angular velocity follow desired values accurately. The stability analysis shows that trajectory tracking errors are convergent and bounded. Finally, a simulation example is presented which demonstrates the effectiveness of the proposed approach.