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Design Control of Forward Motion of an Autonomous Truck-Trailer using Lyapunov Stability Approach
Febsya M.R.a, Ardhi R.a, Widyotriatmo A.a, Nazaruddin Y.Y.a
a Instrumentation and Control Research Group, Institut Teknologi Bandung, Bandung, Indonesia
[vc_row][vc_column][vc_row_inner][vc_column_inner][vc_separator css=”.vc_custom_1624529070653{padding-top: 30px !important;padding-bottom: 30px !important;}”][/vc_column_inner][/vc_row_inner][vc_row_inner layout=”boxed”][vc_column_inner width=”3/4″ css=”.vc_custom_1624695412187{border-right-width: 1px !important;border-right-color: #dddddd !important;border-right-style: solid !important;border-radius: 1px !important;}”][vc_empty_space][megatron_heading title=”Abstract” size=”size-sm” text_align=”text-left”][vc_column_text]© 2019 IEEE.This paper will discuss the path following control of autonomous truck-trailer with two focus controller method: head-focused and trailer-focused. The system has two inputs: traction velocity and steering angle. Both of them are located in truck head. The system has dynamic error: the error of head and trailer angle orientation to the path, the error of truck head orientation to the trailer, and the error of autonomous truck-trailer position to the path. The control algorithm on the steering angle is proposed by investigating the first derivative of autonomous truck-trailer orientation control and the difference of trailer to the path so stabilize the system dynamic error. So the autonomous truck-trailer would be moving exactly on the desired path. Futhermore, control function on the traction velocity would be maximum when the position and orientation configuration of autonomous truck-trailer is exactly on the path and be minimum when the system is moving away from the path. The line path following control for every focused controller is designed by using Lyapunov stability method. So, the asymptotic global stability of the origin of error would be obtained. The numeric simulation result is implemented in Matlab simulation with straight path, turning path, and circular path for every focused controller. The simulation results showed that control algorithm is resulting asymptotic global stable for head- focused and trailer-focused controller. The trailer-focused controller would be obtained the stable condition faster than the head-focused controller.[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Author keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Control functions,Lyapunov stability,Matlab simulations,Numeric simulation,Orientation control,Path following control,Position and orientations,Steering control[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Indexed keywords” size=”size-sm” text_align=”text-left”][vc_column_text]Autonomous truck-trailer,Lyapunov stability,path following control,steering control,velocity control[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”Funding details” size=”size-sm” text_align=”text-left”][vc_column_text]This research is a part of Research, Community Service, and Innovation Program (Program Penelitian, Pengabdian kepada Masyarakat, dan Inovasi/ P3MI) funded by Institute[/vc_column_text][vc_empty_space][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][vc_empty_space][megatron_heading title=”DOI” size=”size-sm” text_align=”text-left”][vc_column_text]https://doi.org/10.1109/ICA.2019.8916675[/vc_column_text][/vc_column_inner][vc_column_inner width=”1/4″][vc_column_text]Widget Plumx[/vc_column_text][/vc_column_inner][/vc_row_inner][/vc_column][/vc_row][vc_row][vc_column][vc_separator css=”.vc_custom_1624528584150{padding-top: 25px !important;padding-bottom: 25px !important;}”][/vc_column][/vc_row]