AGV platoon sliding mode control method based on preset time disturbance observer

By adopting a sliding mode control method based on a preset time disturbance observer, the problems of uncontrollable control time and insufficient anti-interference capability of AGV formations in complex scenarios are solved. It realizes fast and accurate external disturbance estimation and control target tracking within a preset time, thereby improving the control accuracy and stability of AGV formations.

CN122672518APending Publication Date: 2026-09-01DALIAN UNIV
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Patent Information

Application Number
CN202610801128.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-06-04
Publication Date
2026-09-01

AI Technical Summary

Technical Problem

Existing AGV platoon control systems are unable to achieve dynamic merging of multiple lanes and emergency lane changes in complex scenarios, and their anti-interference capabilities are insufficient, resulting in uncontrollable control time, insufficient accuracy, and poor stability, which cannot meet the needs of high-speed operations.

Method used

A sliding mode control method based on a preset time disturbance observer is adopted. By constructing an AGV formation dynamics model, a longitudinal-lateral collaborative control architecture is designed. By combining a sliding mode controller and a preset time sliding mode controller, the rapid and accurate estimation of external disturbances and the tracking of the control target within a preset time can be achieved.

Benefits of technology

It improves the anti-interference accuracy and response speed of AGV formations, shortens the convergence time, and enhances control accuracy and task execution efficiency and safety in logistics scenarios.

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Abstract

This invention provides an AGV platooning sliding mode control method based on a preset-time disturbance observer, belonging to the technical field of automatic control. Based on the preset-time theorem and considering external disturbances, this invention designs a specified-time disturbance observer to observe external disturbances and combines it with sliding mode control to design a specified-time controller to achieve the control scheme within a specified time range. Compared to traditional control schemes, this improved method is easier to implement and has a faster convergence time. By introducing a fusion strategy of a specified-time disturbance observer and sliding mode control, the proposed method significantly improves the overall performance of the AGV platooning system.
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