Research Article

Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Table 1

Parameters of the AGV.

ParameterDescriptionValue (units)

Distance between wheels of the AGV30 cm
Distance between rear wheels and traction unit100 cm
Radius of front wheels6 cm
Radius of rear wheels9 cm
Mass of the AGV100 kg
Inertia of traction unit0.11 kg m2
Rolling coefficient0.01
Aerodynamic coefficient0.35
Static friction coefficient of traction unit0.1 N
Viscous friction coefficient of traction unit0.01 Ns/rad
Static friction coefficient of traction wheels2.94e − 2
Viscous friction coefficient of traction wheels5e − 4 Ns/rad