ROLLOVER STABILITY REGULATION SYSTEM OF AUTONOMOUS FORKLIFT WITH OPTIMAL CONTROL APPROACH

• Main Author: Ray Hutauruk, Andi
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/79083
• Institution: Institut Teknologi Bandung

E-commerce and the industrial revolution have impacted the warehousing system. The warehousing system is continuously developing into modern warehousing. One of the features of a modern warehousing system is a forklift that can operate independently or automatically. Autonomous forklifts have a broad scope. This study presents the roll stability control of autonomous forklifts. The roll stability control is necessary to avoid instability that can cause rollover. The center of gravity is one of the crucial factors in anticipating rollover. The center of gravity can be affected by the weight of the load and the speed at which the forklift operates. The forklift dynamic linear model is developed here by considering the center of gravity and the lateral transfer ratio (LTR) as practical rollover indicator. A linear quadratic regulator (LQR) and model predictive control (MPC) are then employed to stabilize dynamic forklift, so it can set the LTR to zero under steady conditions. The simulation results of a case study show that LQR and MPC may avoid rollover with a relatively fast response when the forklift has heavy loads and slow movements.