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.

中文翻译：

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具有执行器延迟的AGV的实时预测滑模控制方法

提出了一种基于多传感器融合的预测滑模控制方法，以解决执行器延迟导致的轨迹跟踪精度不足的问题。该控制器基于运动学模型，使用内部和外部两层结构来实现位置控制和航向控制的分离。将基准位置变化率引入控制器的设计中，使自动导引车（AGV）具有实时预测控制能力。提供了稳定性分析和预测滑模控制理论的证明。实验结果表明，新的控制算法通过参考位置变化率可以提高AGV控制器的性能，从而改善AGV的运行而不会出轨。