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All Journal Bulletin of Electrical Engineering and Informatics JURNAL RISET TEKNOLOGI KELAUTAN Journal TEPAT: Teknologi Terapan untuk Pengabdian Masyarakat
Hasnawiya Hasan
Jurusan Teknik Perkapalan, Universitas Hasanuddin
Civil Engineering, Building, Construction & Architecture Control & Systems Engineering Decision Sciences, Operations Research & Management Earth & Planetary Sciences Electrical & Electronics Engineering Engineering Public Health

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Journal : Bulletin of Electrical Engineering and Informatics

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Autonomous vehicle tracking control for a curved trajectory Hasan, Hasnawiya; Samman, Faizal Arya; Anshar, Muh; Sadjad, Rhiza S.
Bulletin of Electrical Engineering and Informatics Vol 13, No 3: June 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i3.6060

Abstract

Recently, research about trajectory tracking of autonomous vehicles has significantly contributed to the development of autonomous vehicle technology, particularly with novel control methods. However, tracking a curved trajectory is still a challenge for autonomous vehicles. This research proposes a state feedback linearization with observer feedback to overcome some difficulties arising from such a path. This approach suits a complex nonlinear system such as an autonomous vehicle. This method also has been compared with the linear-quadratic regulator (LQR) method. So, the goal of this research is to improve the control system performance of autonomous vehicles that are stable enough to navigate a curved path. Moreover, the study shows that the developed control law can track the curved path and solve existing problems. However, improvements are still necessary for the vehicle's performance and robustness.
Co-Authors Anshar, Muh Faizal Arya Samman Haliah, Haliah Muh. Alief Fahdal Imran Oemar Oemar, Imran Rhiza S. Sadjad Zahir Zainuddin