Widyotriatmo Augie, Nazaruddin Yul Yunazwin, Putranto Mohammad Raka Febsya, Ardhi Rizqi
Instrumentation and Control Research Group, Faculty of Industrial Technology, Institut Teknologi Bandung, Ganesha 10, 40132, Bandung, Indonesia.
Engineering Physics Program, Faculty of Industrial Technology, Institut Teknologi Bandung, Ganesha 10, 40132, Bandung, Indonesia.
ISA Trans. 2020 Oct;105:349-366. doi: 10.1016/j.isatra.2020.05.046. Epub 2020 May 30.
This paper presents new control designs and implementations of truck-trailer path following in forward and backward motions. The path following controls are designed in two modes, which are the controls with reference on the head-truck (RH-control) and with reference on the trailer (RT-control). Both modes aim to converge the distance and orientation errors of the head-truck as well as the trailer with respect to the desired path to zero. Using the designed controls, the asymptotic stabilities of the equilibrium points (i.e., error points equal to zeros) are analyzed using the Lyapunov method. The performances of RH-and RT-controls in controlling the truck-trailer are compared for forward and backward motions. The simulation results show that the RT-controls perform better than the RH-controls and the RT-controls can be applied for a curve-path following in both forward and backward directions. The experimental results of a prototype truck-trailer show the effectiveness of the proposed controls.
本文介绍了卡车-拖车在向前和向后运动中路径跟踪的新型控制设计与实现。路径跟踪控制设计为两种模式，即基于牵引车的参考控制（RH控制）和基于拖车的参考控制（RT控制）。两种模式的目标都是使牵引车以及拖车相对于期望路径的距离和方向误差收敛到零。利用所设计的控制，使用李雅普诺夫方法分析了平衡点（即误差点等于零）的渐近稳定性。比较了RH控制和RT控制在控制卡车-拖车向前和向后运动时的性能。仿真结果表明，RT控制的性能优于RH控制，并且RT控制可应用于向前和向后两个方向的曲线路径跟踪。一辆原型卡车-拖车的实验结果表明了所提出控制的有效性。
