It is proposed to design a position tracking controller to track a position reference input instead of velocity control to realize the same navigation task of the AGV. Compare the system models in terms of the system order. You may want to analyze the behavior of the velocity tracking and position tracing systems and make recommendations with regard to the control option with a logical discussion and observations on the role and effects of the P, I, and D control actions of the PID controllers.
In here, you are also expected to analyze and evaluate (in terms of rise time, overshoot, and settling time) the stability of the position control option compared with the velocity control option and discuss the control techniques that can be used to improve the stability of the control system. System parameters such as damping vary with aging and the mass of the AGV depends on the load. Perform a self-tuning technique to encounter parameter variations.