<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.</p></abstract>

This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.

Comparative Study of Stabilization Controls of a Forklift Vehicle

Faculty of Industrial Technology, Instrumentation and Control Research Group, Insititut Teknologi Bandung

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Comparative Study of Stabilization Controls of a Forklift Vehicle"}

This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three...

Comparative Study of Stabilization Controls of a Forklift Vehicle

Published Online: Nov 05, 2019

Page range: 181 - 188

Received: Jan 07, 2019

DOI: https://doi.org/10.2478/ama-2019-0024

Keywords
Autonomous vehicle, stabilization control, time-varying-based control, discontinuous control, navigation-variables-based control

© 2019 Augie Widyotriatmo, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Comparative Study of Stabilization Controls of a Forklift Vehicle

Published Online: Nov 05, 2019

Page range: 181 - 188

Received: Jan 07, 2019

DOI: https://doi.org/10.2478/ama-2019-0024

KeywordsAutonomous vehicle, stabilization control, time-varying-based control, discontinuous control, navigation-variables-based control

© 2019 Augie Widyotriatmo, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Autonomous vehicle, stabilization control, time-varying-based control, discontinuous control, navigation-variables-based control