Controller Design of Automatic Guided Vehicle for Path-Following Using Input-Output Feedback Linearization Method

In this paper, the controller design for path-following using input-output feedback linearization method for the automatic guided vehicle with uncertainties and external disturbances is proposed. The dynamic model of the system with uncertainties and external disturbances is presented. An auxiliary control input vector is designed using input-output linearization technique. The auxiliary control input vector transforms the overall system into two linearized subsystems of the position control subsystem and velocity control subsystem. Based on the two linearized subsystems, a new control law vector for path-following is designed. The new control input vector for path-following guarantees that the tracking errors vector converges exponentially to zero. In addition, a scheme of measuring the errors for experiment by a USB camera is also described. The simulation and experimental results are presented to illustrate effectiveness of the proposed controller.