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.

Abstract In this paper Sliding Mode Control (SMC) of the systems linear with respect to control and its application to robotic manipulators control system design is presented. The controller is designed to provide sliding mode motion on the selected manifolds in the state space. These manifolds are selected as a linear combination of the state coordinates. This selection allows the formulation of the path tracking control, the force control and the impedance control problems to be very similar. Control is selected to satisfy selected Lyapunov function and stability criteria.