Abstract: A new type of the controller with powerful robustness is presented to improving the positioning precision and reliability for automatically guided rail vehicle (AGRV) by sing the PDF (Pseudo-Derivative-feed-back) controller. The structure of the experiment device, the mathematical model of AGRV and its parameters' identification, the method of measuring the positioning precision and testing results are described. The results indicate: (1) the design, analying, calculating and testing methods are successful, the results have reached the expected goal and the real AGRV can be designed based on these results. (2) using PDF controller to control the AGRV has many advantages, testing is convenient, working is reliable and the positioning precision is improved.

Key words: FMS Vehicle, Reliability PDF (Pseudo-Derivative-Feedback)