Authors: Kawther Osman; Jawhar Ghommam; Maarouf Saad
Addresses: National School of Engineering of Sousse (ENISO), CEM Lab ENIS, Sousse, Tunisia ' Department of Electrical and Computer Engineering, Sultan Quaboos University, Muscut, Oman ' Département de Génie Électrique, École de Technologie Supérieure, Montréal, Canada
Abstract: This paper proposes a lane-keeping system for trucks with trailer. The chosen active steering vehicle model allows to control both steering angles of the vehicle's articulations to pursue a desired trajectory. Thus, a guidance module is first implemented to define a bounded path parameter to follow. This module takes advantage of the Barrier Lyapunov function to impose constraints on the truck's longitudinal and lateral position and the trailer's orientation w.r.t the truck namely the articulation angle. The applied constraints guarantee a safe lane keeping for such type of vehicle while restricting the vehicle position inside the lane boundaries. The bounded path parameter is thereafter followed by a Robust Integral of Sign of Error (RISE) feedback controller. The proposed controller calculates the appropriate truck and trailer's steering angles to ensure the safe lane keeping and compensates the vehicle model uncertainties.
Keywords: articulated truck; lane keeping; path following; robust controller; LOS guidance; Barrier Lyapunov function.
International Journal of Cybernetics and Cyber-Physical Systems, 2021 Vol.1 No.1, pp.33 - 51
Received: 20 May 2020
Accepted: 22 May 2020
Published online: 13 Feb 2021 *