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针对自动导向车（ＡＧＶ）的路径跟踪，提出一种新的模型参考－模糊变结构滑模－ＰＩ组合跟踪控制方案。该方案将ＡＧＶ设计成左右轮行走距离跟踪系统，并引进参考模型，组合了模糊控制和变结构滑模控制以及比例加积分（ＰＩ）控制。模糊变结构滑模控制提供了跟踪的快速性和稳定性，ＰＩ控制则消除稳态抖动，提高了稳态精度。仿真及实测结果表明，这种新的设计方案能达到较高的跟踪精度。
Aimed at the path tracking of AGV, a new model reference-fuzzy variable structure sliding mode-PI combinational tracking control scheme is proposed. In this scheme, the AGV is designed as left / right wheel travel distance tracking system and a reference model is introduced to combine the fuzzy control, variable structure sliding mode control and proportional plus integral (PI) control. Fuzzy variable structure sliding mode control provides fast and stable tracking, while PI control eliminates steady state jitter and improves steady state accuracy. Simulation and measured results show that this new design can achieve a higher tracking accuracy.