Intelligent Variable Structure Control for Automated Guided Vehicle

Abstract

Aiming at Automated Guided Vehicle (AGV) dynamic model characteristics, a Variable Structure Control based on genetic algorithm (GA) and least square-support vector machine (LS-SVM) was designed. Parameters, predetermined by conventional reaching law, were regulated by LS-SVM online. It was shown that system shattering is eliminated. Simulation results indicated that this method possesses the advantages of higher precision, greater adaptability and robustness, as compared to the conventional Variable Structure Control methods. © 2008 IEEE.