A transport carriage system wherein a plurality of transport carriages travel, the system comprising: a common track on which the plurality of transport carriages travel; a servo system that is provided in each of the transport carriages and performs servo control with respect to traveling of each of the transport carriages by a servo system that includes a traveling motor and a position sensor that obtains the traveling direction information of the transport carriage and sends it to the servo system as feedback; and a traveling control unit that controls the servo system and includes an acceleration/deceleration control unit that generates intermediate instruction for the servo system for a predetermined cycle and a smoothing unit that generates smoothed instruction for the predetermined cycle by smoothing the intermediate instruction over a plurality of cycles, characterized by the acceleration / deceleration control unit is configured to generate the intermediate instruction with respect to the current cycle for each predetermined cycle such that the transport carriage travels at a maximum velocity in a range that satisfies a constraint condition, for example a restriction of maximum acceleration regarding traveling of the transport carriage, and store the constraint condition, and the smoothing unit is configured to generate the smoothed instruction by obtaining moving averaging of the intermediate instruction over a plurality of cycles by combining multiple previous intermediate target positions; and the traveling control unit is configured to further include a filter that generates servo position instruction by removing one of high frequency components and signals in a vicinity of a characteristic frequency of the transport carriage from the smoothed instruction, and inputs the servo position instruction to the servo system. a common track on which the plurality of transport carriages travel; a servo system that is provided in each of the transport carriages and performs servo control with respect to traveling of each of the transport carriages by a servo system that includes a traveling motor and a position sensor that obtains the traveling direction information of the transport carriage and sends it to the servo system as feedback; and a traveling control unit that controls the servo system and includes an acceleration/deceleration control unit that generates intermediate instruction for the servo system for a predetermined cycle and a smoothing unit that generates smoothed instruction for the predetermined cycle by smoothing the intermediate instruction over a plurality of cycles, characterized by the acceleration / deceleration control unit is configured to generate the intermediate instruction with respect to the current cycle for each predetermined cycle such that the transport carriage travels at a maximum velocity in a range that satisfies a constraint condition, for example a restriction of maximum acceleration regarding traveling of the transport carriage, and store the constraint condition, and the smoothing unit is configured to generate the smoothed instruction by obtaining moving averaging of the intermediate instruction over a plurality of cycles by combining multiple previous intermediate target positions; and the traveling control unit is configured to further include a filter that generates servo position instruction by removing one of high frequency components and signals in a vicinity of a characteristic frequency of the transport carriage from the smoothed instruction, and inputs the servo position instruction to the servo system.