Research on Path Tracking of Forklift AGV Based on Sliding Mode Control

Path tracking accuracy is one of the key parameters to realize the engineering application of forklift AGV. The common sliding mode control methods based on reaching law cannot meet the application needs of complex working conditions and are prone to chattering. Therefore, a new sliding mode control method based on power reaching law and anti-sine function is proposed to realize the path tracking control of forklift AGV. The simulation experiment is carried out by MATLAB software, and the prototype vehicle physical test is also carried out. The simulation and physical test results show that the proposed control method can not only improve the tracking accuracy of forklift AGV, but also reduce the chattering during the movement of forklift AGV.