Trajectory Tracking Nonlinear Hybrid Control of Automated Guided Vehicles

Table 3

Comparison of the controller performance for different trajectories.

Trajectory	MAE		RMSE		STD		MAX
	LPC	PID	LPC	PID	LPC	PID	LPC	PID
Circle	0.2	0.57	0.279	0.79	0.35	1.02	1.17	2.45
Ellipse	0.4	1.15	0.54	1.56	0.62	2.01	2.22	6.44
Lemniscate	0.04	0.175	0.0542	0.24	0.058	0.28	1.83	2.085