Research Article
Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles
| 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 m2 | | 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 |
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