Trajectory tracking nonlinear hybrid control of automated guided vehicles

Abstract

Automated guided vehicles (AGVs), so necessary in industrial environments, require precise control of trajectory tracking tomake accurate stops at logistics stations, such as loading stations, or to pick up or drop of trolleys, pallets, or racks. Tis paperproposes a hybrid control architecture for trajectory tracking of a hybrid tricycle-diferential AGV. Te control strategy combinesconventional proportional integral derivative (PID) control with advanced nonlinear Lyapunov control (LPC). Te LPC is usedfor trajectory tracking while the PID is used for speed control of the robot. Te stability of the controller is demonstrated for anydiferentiable trajectory. When a PID optimized with genetic algorithms is compared with the proposed controller for severaltrajectories, the LPC outperforms it in all cases.