Sliding Mode Control of AGV Based on Extended State Observer

According to the error tracking model of automated-guided vehicle (AGV), considering the uncertain disturbances such as sideslip, ground roughness and friction, this paper designs sliding mode control extended state observer (SMC-ESO) control scheme. ESO describes all the uncertain dynamics in the system as additive total disturbances of the system and estimates the disturbances online and in real time. The SMC is designed to compensate and suppress these disturbances, thus reducing the uncertainty of the feasibility of AGV tracking and the influence of external random interference on the control performance in the tracking process and improving the rapidity and robustness of AGV tracking control. To verify the algorithm, SMC-ESO and active disturbance rejection control (ADRC) are compared by simulation, and the results show that SMC-ESO has better tracking ability, anti-interference ability and robustness.