Observer-Based Sliding Mode Control for Omni-Directional AGV

This paper presents a new strategy of a high-gain extended observer-based adaptive integral sliding mode control (HGEO-AISMC) on omni-directional AGV with mecanum wheels. Model uncertainties and unknown external disturbances (MUUED) are also taken into account. The proposed high gain extended observer (HGEO) is used to estimate the MUUED and unmeasured states. Based on HGEO, adaptive integral sliding mode control (AISMC) strategy is designed to ensure effective tracking capability, an adaptive law is used for the estimation of unknown parameters. Simulations were carried out to test the effectiveness and tracking performance of the designed HGEO-AISMC strategy.