Pamosoaji, Anugrah Kusumo (2018) Trajectory tracking control strategy using co-reference for rear-steered vehicle. In: 2018 3rd International Conference on Control and Robotics Engineering (ICCRE), April 20-23, 2018, Nagoya, Japan.
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Abstract
A trajectory tracking control strategy using a co-reference for a rear-steered non-holonomic vehicle is presented. Given a reference moving on a path, the vehicle has to track the reference and reduce the vehicle-to-reference distance to the minimum possible distance. In addition, the vehicle has to maintain the change rate of the vehicle-to-reference distance non-positive at the neighborhood of the reference from any initial configuration. A class of barrier Lyapunov Function (BLF) is utilized to analyze the stability of the proposed control strategy. The co-reference is used to guide the vehicle to enter the neighborhood of the reference from the rear side of the reference. The performance of the proposed control strategy is evaluated by simulations and the results are presented.
| Item Type: | Conference or Workshop Item (Paper) |
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| Uncontrolled Keywords: | Trajectory Tracking control, automated guided vehicle, distance reduction. |
| Subjects: | Teknik Industri > Produksi |
| Divisions: | Fakultas Teknologi Industri > Teknik Industri |
| Depositing User: | Editor UAJY |
| Date Deposited: | 07 Jul 2020 08:43 |
| Last Modified: | 07 Jul 2020 08:43 |
| URI: | http://e-journal.uajy.ac.id/id/eprint/21808 |
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