Synchronized Tracking Control of Dynamic System of Unmanned Rear-Wheel Vehicles Based on Dynamic Analysis

Abstract

From the classic automatic guided vehicle system, the system of the unmanned rear-wheel drive vehicle (URWDV) based on a dynamic analysis is studied. In the URWDV system, the relationship among the position information, velocity, and the heading angular velocity of the unmanned vehicle is established in the plane coordinate system and the coordinate system centered vehicle itself. The velocity and heading angular velocity values are obtained through a dynamic analysis and are used as control parameters. The synchronized tracking control of the unmanned vehicle is realized by the control scheme of the velocity and the heading angular velocity. Finally, the simulation examples show the effectiveness of the tracking control.