Formation Control of Leader-Following Multi-AGV with Communication Delay and Acceleration Disturbance

This paper explores the issue of multi-Automated Guided Vehicles formation control in special scenarios. The leader-following type of formation is adopted, take account of both the time delay in communication between AGVs and the disturbance caused by the acceleration of the leader AGV. In the first, a third-order kinematic model is established for the driving mode of the automated guided vehicles. Secondly, a composite controller consisting of an integral sliding mode controller and a feedback controller is designed. The feedback controller is used for the followers to track the leader AGV, the distinctive sliding surface of the sliding mode controller enables compensation for jerk. Thus, the effect of the acceleration disturbance from the leader is mitigated. Finally, the effectiveness of the proposed method is verified by Matlab/simulink simulation software.