IEIE Transactions on Smart Processing and Computing

The Institute of Electronics and Information Engineers (대한전자공학회)
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Back-up Control of Truck-Trailer Vehicles with Practical Constraints: Computing Time Delay and Quantization

  • Kim, Youngouk (Korea Electronics Technology Institute) ;
  • Park, Jinho (Image Processing and Intelligent Systems Laboratory, Department of Advanced Imaging, Graduate School of Advanced Imaging Science, Multimedia, and Film, Chung-Ang University) ;
  • Paik, Joonki (Image Processing and Intelligent Systems Laboratory, Department of Advanced Imaging, Graduate School of Advanced Imaging Science, Multimedia, and Film, Chung-Ang University)
  • Received : 2015.12.08
  • Accepted : 2015.12.22
  • Published : 2015.12.31
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Abstract

In this paper, we present implementation of backward movement control of truck-trailer vehicles using a fuzzy mode-based control scheme considering practical constraints and computational overhead. We propose a fuzzy feedback controller where output is predicted with the delay of a unit sampling period. Analysis and design of the proposed controller is very easy, because it is synchronized with sampling time. Stability analysis is also possible when quantization exists in the implementation of fuzzy control architectures, and we show that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. Experimental results using a toy truck show that the proposed control system outperforms a conventional system.

Keywords

Acknowledgement

Grant : Development of Smart Video/Audio Surveillance SoC & Core Component for Onsite Decision Security System, Development of global multi-target tracking and event prediction techniques based on real-time large-scale video analysis

Supported by : Information & Communications Technology Promotion (IITP)

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