Backward Motion Path Following Control of Autonomous Truck-Trailer: Lyapunov Stability Approach

Investigations about backward motion of autonomous Truck-Trailer is interesting because the backward motion system is harder than forward motion system. The system is hard to be controlled and the possibility of jack-knife effect to occur is high. This paper presents line path following control of an autonomous truck-trailer backward motion. Control architecture and design control is proposed. Design control of line path following control is divided into three steps, namely truck-trailer orientation, steering angle control, and position control of steering angle. The system has two input, namely the traction velocity and the steering angle as determinant of the truck-trailer system steering direction. Using truck-trailer oriented algorithm, the backward motion function control is focused on truck head so that the truck-trailer motion will follow the desired path. Line path following control is designed using Lyapunov Stability approach to find the system stability. The results of the simulation studies showed that the system has reached asymptotic global stable condition on the origin of error, which means that the distance and orientation of the head truck to the path is zero so the motion of the system is on the path.