Kontrol Pengikut Jalur untuk Sistem Docking pada Autonomous Truck Trailer Berbasis Kestabilan Lyapunov

Authors

  • M Afghan Fadhilah Institut Teknologi Bandung
  • Bani Asrofudin Institut Teknologi Bandung
  • M Raka Febsya P Institut Teknologi Bandung
  • Rizqy Ardhi Institut Teknologi Bandung
  • Augie Widyotiarmo Institut Teknologi Bandung

Abstract

Aplikasi autonomous truck trailer telah dikembangkan pada dunia logistik pelabuhan guna
meningkatkan efisiensi serta keselamatan kerja. Kontrol pada sistem autonomous truck trailer memiliki
tingkat kesulitan yang sangat tinggi dikarenakan beberapa hal seperti sifat non-holomonik, efek jack-kife
dan sifat rigid pada bagian head dan trailer. Telah dilakukan penelitian tentang kontrol autonomous truck
trailer berbasis pengikut jalur yang menghasilkan tiga hal yaitu stabilization, trajectory tracking, dan
path following control. Terdapat keterbatasan pada penelitian tersebut yaitu pada kondisi tidak terduga
seperti sistem parkir, slip pada ban, dan penghindaran gangguan. Pada makalah ini disajikan sebuah
kontrol pengikut jalur untuk sistem parkir bongkar muat (docking) pada autonomous truck trailer berbasis
kestabilan Lyapunov. Fungsi pengontrol sudut kemudi dan kecepatan traksi diajukan sedemikian
sehingga dapat menstabilisasi kesalahan dinamik sistem agar truck trailer bergerak bertepatan dengan
jalur yang diinginkan. Pengontrolan sistem difokuskan pada trailer baik pada saat bergerak maju maupun
mundur. Hasil simulasi menunjukkan bahwa autonomous truck trailer dapat bergerak mengikuti pola
yaitu dengan bergerak maju dan mundur untuk parkir menempati posisi untuk docking.
Kata Kunci: Kontrol pengikut jalur, autonomous truck trailer, sistem docking, kestabilan Lyapunov.

References

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Published

2019-10-24

Issue

Vol. 2 No. 1 (2019)

Section

Articles

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