**5. Conclusion**

To enhance the precision of trajectory-following, speed of system response, and suppression of overshoot in the control system for AGEV equipped with AFS system, we propose a novel NRC strategy. Initially, we establish the system dynamics of AGEV and its vehicle trajectory-following control system with dynamic error. By applying Lyapunov stability theory, we ultimately design the nonlinear robust *H*infinity controller for the AGEV trajectory-following system. The proposed controller is solved by using a set of linear matrix inequalities. The efficacy of the proposed controller is validated by utilizing MATLAB/Simulink and Carsim® software. The simulation results demonstrate that the proposed controller has efficient trajectoryfollowing performance compared to RHC and LQR.
