Real-time predictive sliding mode control method for AGV with actuator delay

  • Zhi ChenEmail author
  • Jian Fu
  • Xiao-Wei Tu
  • Ao-Lei Yang
  • Min-Rui Fei


In this paper, a predictive sliding mode control method based on multi-sensor fusion is proposed to solve the problem of insufficient accuracy in trajectory tracking caused by actuator delay. The controller, based on the kinematics model, uses an inner and outer two-layer structure to achieve decoupling of position control and heading control. A reference positional change rate is introduced into the design of controller, making the automatic guided vehicle (AGV) capable of real-time predictive control ability. A stability analysis and a proof of predictive sliding mode control theory are provided. The experimental results show that the new control algorithm can improve the performance of the AGV controller by referring to the positional change rate, thereby improving the AGV operation without derailing.


Predictive sliding mode control Multi-sensor fusion Trajectory tracking Real-time decoupling 



This work was supported by the National Natural Science Foundation of China (Grant Nos. 61903241, 61304223, 61603191, 61873158, 61573237), the China Postdoctoral Science Foundation (Grant No. 2018M630424), and the Natural Science Foundation of Shanghai Municipality (Grant No. 18ZR1415100).


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Copyright information

© Shanghai University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Mechatronic Engineering and AutomationShanghai UniversityShanghaiPeople’s Republic of China
  2. 2.College of Energy and Power EngineeringNanjing University of Science and TechnologyNanjingPeople’s Republic of China

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