Observer-Based Sliding Mode Control for Omni-Directional AGV
2023 6th International Conference on Robotics, Control and Automation Engineering (RCAE)(2023)
摘要
This paper presents a new strategy of a high-gain extended observer-based adaptive integral sliding mode control (HGEO-AISMC) on omni-directional AGV with mecanum wheels. Model uncertainties and unknown external disturbances (MUUED) are also taken into account. The proposed high gain extended observer (HGEO) is used to estimate the MUUED and unmeasured states. Based on HGEO, adaptive integral sliding mode control (AISMC) strategy is designed to ensure effective tracking capability, an adaptive law is used for the estimation of unknown parameters. Simulations were carried out to test the effectiveness and tracking performance of the designed HGEO-AISMC strategy.
更多查看译文
关键词
omni-directional AGV,mecanum wheel,high gain extended observer,adaptive integral sliding mode control
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要