Adaptive Sliding Mode Trajectory Tracking Control of AGV with Input Saturation

This paper studies the trajectory tracking control problem of an AGV under the influence of input saturation, where an improved adaptive sliding mode control method based on a barrier function is proposed. The barrier function is used to ensure that the tracking error converges to a predefined range, and system chattering is reduced. An auxiliary system is designed to compensate for the vehicle system’s input saturation, allowing the vehicle to maintain a satisfactory trajectory tracking performance when the control torque is limited. Finally, simulation results shows the effectiveness of the method proposed.