Adaptive backstepping control design for trajectory tracking of automatic guided vehicles

Abstract

This paper is to design an adaptive trajectory tracking controller for an Automatic Guided Vehicle (AGV) to track the desired reference trajectory with unknown slip. To do this task, the followings are done. Firstly, system description and mathematical modelings of a differential drive AGV system are presented. Kinematic model of AGV is derived based on the wheel configuration and the nonholonomic constraint. Dynamic model of AGV is obtained from the Lagrangian formula. Secondly, an adaptive backstepping trajectory tracking controller is designed. By choosing appropriate Lyapunov function based on its kinematic modeling of AGV system with unknown slip parameter stability is guaranteed, a control law and an update law to estimate the unknown slip parameter can be obtained. The simulation and experimental results show that the proposed controller successfully estimates the unknown parameters and tracks a reference trajectory.