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For automated warehouse stacker positioning control problems, the new integrated positioning control method was adopted, namely two-position closed-loop control methods. The method of coarse positioning and precise positioning in combination avoid the defects of accumulation of errors of the encoder and the errors of laser range finder caused by shock and other uncertain reasons, and can automatically correct the position of stacker fork and cargo space. Analysis of braking force, we obtained the relationship among acceleration rate, the speed and time during braking. It can provide a reference for the stacker control parameters.