DESIGN OF FORWARD AND BACWARD MOTION CONTROL OF AUTONOMOUS TRUCK TRAILER BASED ON LYAPUNOV STABILITY METHOD
Dwelling time is longer than the target operating time in the port’s logistic. An autonomous truck trailer is expected to reduce dwelling time. But, the difficulty of controlling an autonomous truck trailer is hard because of some reason. This study explained about the design of the line path follow...
Saved in:
| Main Author: | |
|---|---|
| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/39450 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Dwelling time is longer than the target operating time in the port’s logistic. An autonomous truck trailer is expected to reduce dwelling time. But, the difficulty of controlling an autonomous truck trailer is hard because of some reason. This study explained about the design of the line path following control of autonomous truck trailer forward and backward motion control using two focuses of control: head truck and trailer part. The system has two inputs: traction velocity and steering angle which both of them are located in the head truck part. The system has dynamic errors: error of head truck and trailer angle to the path, error of head truck and trailer angle, and error of head truck and trailer position to the path. The control algorithm of steering angle and traction velocity is proposed so that it could stabilize the system dynamic error so the system would be moving in the path precisely. Every focused controller is designed based on the Lyapunov stability method so that asymptotic global stability of origin of error could be achieved. The result of simulation for every focused controller showed that the system could made the dynamic error of head truck and trailer convergent to zero. So, we can say that the system could achieved the asymptotic global stable condition for forward and backward motion. The simulation results showed that the trailer-focused controller is faster than the head-focused controller to achieve the stable condition based on the euclidean norm of error head truck and trailer is 0,501 and 0,792 for forward motion and 0,652 and 0,852 for backward motion with trailer focused controller. The trailer-focused controller is implemented on a mobile robot. The result of implementation can represent the results of the simulation. |
|---|