Opened and closed loop control was chosen to control method of the motion track of AGV to its position and orientation.
在对AGV的定位轨迹控制方法上，选定了位姿开环控制与闭环控制相结合的方式。
To the known bounded reference input trajectory, it can be proved the closed-loop is BIBO stable, and the output will track the reference input asymptotically.
同时证明，对于已知有界参考输入，多模型自适应控制可以保证闭环系统输入输出稳定，输出渐进跟踪设定值。
At the same time dynamic model bank is applied to establish models bank without the prior system information. The closed-loop system stability and track error convergence asymptotically are proved.
应用动态模型库技术来建立多模型，并证明该算法能够保证闭环系统的稳定性和跟踪误差的渐近收敛性。
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