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 (P2); 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 (P2); 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. <EOS>