Lateral and longitudinal hierarchical control of port AGV path tracking based on MPC and SMC

To improve the accuracy and stability of AGV (Automated Guided Vehicle) path tracking in ports, and to address the issue of large lateral impact on tires during turns, a lateral and longitudinal hierarchical control strategy is proposed. The MPC (Model Predictive Control) lateral controller is constructed based on the AGV’s dynamics model. The SMC (Sliding Mode Control) longitudinal controller is built on a first-order inertial system, and the PI (Proportion Integration) controller is used to implement the drive or brake control of the AGV. Finally, under the joint Simulink and Trucksim simulation platform, the no-load motion performance of AGVs under typical working conditions is tested and verified. The simulation results show that the proposed control strategy can meet the parking accuracy and curve driving stability requirements of port AGVs, and the tire force during turning is small.