Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Table 1

Parameters of the AGV.

Parameter	Description	Value (units)
	Distance between wheels of the AGV	30 cm
	Distance between rear wheels and traction unit	100 cm
	Radius of front wheels	6 cm
	Radius of rear wheels	9 cm
	Mass of the AGV	100 kg
	Inertia of traction unit	0.11 kg m^2
	Rolling coefficient	0.01
	Aerodynamic coefficient	0.35
	Static friction coefficient of traction unit	0.1 N
	Viscous friction coefficient of traction unit	0.01 Ns/rad
	Static friction coefficient of traction wheels	2.94e − 2
	Viscous friction coefficient of traction wheels	5e − 4 Ns/rad