A comparison of various VSS techniques on the control of automated guided vehicles

In this paper, various VSS techniques based on sliding mode control (SMC) including a novel approach are proposed for the control of automated guided vehicles (AGV). The first approach is a classical SMC based on Lyapunov design. The second approach is classical SMC with the estimation of the equivalent control, and the third one is a novel approach and eliminates the chattering. The third method is also modified with a different estimation of the equivalent control. The last scheme is observed to be the most powerful method and easily applicable in real systems. The methods are compared and implementation results are presented.