Port AGV Hierarchical Formation Control Considering High-Frequency Disturbance Factors

To enhance the flexibility of port horizontal transportation systems and improve the smoothness, accuracy, and efficiency of Automated Guided Vehicles (AGVs) motion in high-frequency disturbance environments, a longitudinal and lateral hierarchical formation control strategy for AGVs based on angle and velocity tracking is proposed. Based on the leader-follower formation control model, an AGV control system is designed, comprising a lateral controller for Sliding Mode Control (SMC) based on angle tracking and longitudinal controllers for SMC and Proportion Integration (PI) based on velocity tracking. To address the impact of high-frequency disturbance signals in the port environment, a first-order Low Pass Filter (LPF) is designed to enhance the robustness of the AGVs formation control system. Finally, tests were conducted in a combined simulation environment using Simulink and Trucksim, focusing on typical operational conditions for empty AGV formations. Simulation results indicate that the proposed scheme significantly enhances the robustness of the port AGV control system.