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Hybrid feedback control for the parking problem of a load-haul-dump mine vehicle

This paper addresses the parking problem of a load-haul-dump (LHD) mine vehicle. The proposed controller stabilizes the configuration coordinates of the vehicle to an arbitrary small neighborhood of the origin. A specific feature of the control scheme is that the location of the reference point of the vehicle depends on the direction of motion. The control law is designed by Lyapunov techniques and relies on transforming a part of the system equations into chained form. The hybrid strategy combines a trajectory tracking control law until the lateral and orientation errors reach a sufficiently small prescribed magnitude with a time-invariant stabilizer to bring to zero the longitudinal error. Simulation results illustrate the effectiveness of the proposed controller.