Double Loop Controller of Four Mecanum-Wheel Automated Guided Vehicle using SMC-PID

摘要

In industry, robots are often used to assist humans, mostly used in logistics, production lines, and warehouses. Wheeled mobile robots are extensively used for transporting materials such as AGV (Automated Guided Vehicles). Because of the complexity, uncertainty, and nonlinearity, a robust control method is considered to be used to improve the control performance. Several common control algorithms are used in AGV, PID, Fuzzy, Backstepping, Adaptive control, and SMC. In this paper, we propose a controller SMC-PID that is implemented in four mecanum wheel. Proposed controllers are compared to SMC, and simulation to verify control performance. Control performance was verified using rise time, settling time, overshoot, peak, and peak time. Also, in the simulation, disturbances were added to evaluate robustness of the controller. The result of proposed controller (SMC-PID) has 2% less overshoot, and 0.006% less peak to SMC in X Axis. Y Axis, has 0.15% less rise time, 0.05% less settling time and 2.8% less overshoot compared to SMC. When a disturbances occurs, the SMC produces a peak up to 0.4 m/s, while our proposed method produces 0.2538 m/s. From these results, a method we propose is capable of dealing with existing disturbances.