| Summary: | In order to improve the control performance of the transport vehicle, the dynamic model, instead of the kinematic model, is established. The equation of state can be divided into two independent subsystems: the speed sub system and the attitude angle sub system. The sliding mode controls based on the dynamic model are designed for the two subsystems to reduce the complexity of the overall system, and the armature voltages of the motors are used as the control inputs of the system of the transport vehicle. The disturbances, for instance the fluctuations in the power supply, are considered, so the control law has robustness to the external disturbances. Simulation results show that the control method can control the transport vehicle to move according to the desired signals, and the validity of the method can be proved.
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